This paper presents the designing, simulation, fabrication and control of a gripper actuated by Shape Memory Alloy (SMA) wire. The presented gripper has the advantage of the small linear displacement of the slider connected to the SMA wire, and can convert the linear displacement into angular movement of the gripper fingers. In this study, design and simulation processes have been done by two p...

in this paper, a new kind of gripper is designed. this universal gripper is proposed where different objects should be gripped easily, reliably within rapid succession without any feedback. by adding an annular balloon around the granular bag, a lateral force pushes the main membrane and increases the friction force between the bag and the load. according to the acquired test results reported i...

The current approach to reducing impact forces during component placement in micro-assembly is to couple the gripper with 5 Degrees Of Freedom (DOF) to the drive unit of the placement device, wherein the mass of the gripper has been reduced maximally. At the end of the placement motion the drive unit will move relatively to the gripper, as linear as possible given the limitations of the constru...

A soft robotic gripper for a Tele-operable In-Home Robotic Assistant (TIHRA) for the mobility impaired is presented. This gripper is inspired by the Fin Ray® Effect, which is derived from the physiology of fish fins. The gripper fingers are soft and triangular with hard crossbeams that buckle and deform in to conform around objects. The fingers of the TIHRA were altered from the original Fin Ra...

A substantial part of automated material handling and assembly is the interface between machine and work piece. Most of the robots grippers are not easily applicable for material handling such as the food products are often delicate, easily marked or bruised, adhesive and slippery. This study is an innovative approach of a gripper for handling variable size, shape and weight of unpacked food pr...

A novel MEMS based Electro thermal Gripper is proposed in this paper, the gripper tool proposed in this paper is designed to handle the micro objects of about 100-150 microns. The gripper tool proposed in this article is materialized with Nickel Alloy of UNS NO4400. The material proposed for the Gripper has better heat resistant characteristics and can with stand the high potential applications...

The application of automation for handling of non-rigid or semirigid food products are limited due to lack of appropriate gripper. Most of the robot grippers are not easily applicable due to food products are often delicate, easily marked or bruised, adhesive and slippery. In this paper, we present an innovative approach of a gripper for handling variable size, shape and weight of unpacked food...

We consider the scheduling problem of cyclic production in a bufferless dual-gripper robot cell processing a family of identical parts. The objective is to find an optimal sequence of robot moves so as to maximize the long-run average throughput rate of the cell. While there has been a considerable amount of research dealing with single-gripper robot cells, there are only a few papers devoted t...