Design and Calibration of a Sensory System of an Adaptive Gripper
Source abstract
Abstract
The design and calibration of an adaptive gripper’s sensor system are presented in this research. Including the final constructive variants, the variants of the planned force sensor and slip sensors are detailed, highlighting their primary functional and constructive features. The key elements regarding the calibration of the force and slip sensors on each gripper module of the adaptive gripper are then displayed. Each sensor must be examined and calibrated independently due to its construction particularities. The important force and slip sensor behavior graphs are displayed, along with the calibration needed to ensure the adaptive gripper operates as intended. This paper suggestively shows, among the few papers of this kind, for the first time, the laborious but absolutely necessary process of calibrating force and slip sensors for gripping in general, and for adaptive gripping in particular.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robot Manipulation and Learning · Robotic Mechanisms and Dynamics · Soft Robotics and Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Product Design, Mechatronics and Environment, Transilvania University of Brasov, 500036 Brasov, Romania
Department of Mechanical Engineering, Transilvania University of Brasov, 500036 Brasov, Romania
Solid Mechanics Institute of the Romanian Academy, Str C-tin Mille 15, 010141 Bucharest, Romania
Technical Sciences Academy of Romania, 010141 Bucharest, Romania
Funding
Transilvania University of Brasov
References (23)
Show source-provided references
1. (2024, October 14). Available online: https://robotiq.com/.
2. Manz, M., Bartsch, S., Simnofske, M., and Kirchner, F. (2016, January 21–22). Development of a Self-Adaptive Gripper and Implementation of a Gripping Reflex to Increase the Dynamic Payload Capacity. Proceedings of the ISR 2016, 47st International Symposium on Robotics, Munich, Germany.
3. Designing a robotic gripper for harvesting horticulture products10.1017/S026357479900226X ↗
4. Design of LARM hand: Problems and solutions
5. An Adaptive Three-Fingered Prismatic Gripper With Passive Rotational Joints10.1109/LRA.2016.2516506 ↗
6. Design and experimental evaluation of a new modular underactuated multi-fingered robot hand10.1177/0954406220916494 ↗
7. Chapman, J., Gorjup, G., Dwivedi, A., Matsunaga, S., Mariyama, T., MacDonald, B., and Liarokapis, M. (2021, January 18). A Locally-Adaptive, Parallel-Jaw Gripper with Clamping and Rolling Capable, Soft Fingertips for Fine Manipulation of Flexible Flat Cables. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China.10.1109/ICRA48506.2021.9561970 ↗
8. Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes10.1109/TRO.2020.3014036 ↗
9. A Methodology for the Design of Robotic Hands with Multiple Fingers
10. Costanzo, M., De Maria, G., Natale, C., and Pirozzi, S. (2019). Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation. Sensors, 19.10.3390/s19040966 ↗
11. Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots10.1115/1.4062273 ↗
12. Cortinovis, S., Vitrani, G., Maggiali, M., and Romeo, R.A. (2023). Control Methodologies for Robotic Grippers: A Review. Actuators, 12.10.3390/act12080332 ↗
13. Methods and Sensors for Slip Detection in Robotics: A Survey10.1109/ACCESS.2020.2987849 ↗
14. A Soft Barometric Tactile Sensor to Simultaneously Localize Contact and Estimate Normal Force with Validation to Detect Slip in a Robotic Gripper10.1109/LRA.2022.3205768 ↗
15. Itu, A., Staretu, I., and Danciu, G. (2008, January 17–19). Automatic Grasp Planning Using Grasping Strategies. Proceedings of the 4-th International Conference on Robotics-Robotica, Guangzhou, China.
16. Itu, A., Staretu, I., and Danciu, G. (2008, January 19–23). Developing a Control Interface for a Three Fingered Gripper. Proceedings of the 4-th International Conference on Robotics-Robotica 2008, Pasadena, CA, USA.
17. Software Architecture-based Approach to Self-adaptive Function for Intelligent Robots
18. Cheng, L.-W., Liu, S.-W., and Chang, J.-Y. (2022). Design of an Eye-in-Hand Smart Gripper for Visual and Mechanical Adaptation in Grasping. Appl. Sci., 12.10.3390/app12105024 ↗
19. Kakani, V., Cui, X., Ma, M., and Kim, H. (2021). Vision-Based Tactile Sensor Mechanism for the Estimation of Contact Position and Force Distribution Using Deep Learning. Sensors, 21.10.3390/s21051920 ↗
20. Robotic Gripper With Force Feedback System10.1088/1757-899X/912/3/032049 ↗
21. Design and Fabrication of a Novel Force Sensor for Robot Grippers10.1109/JSEN.2017.2788015 ↗
22. A Compliant Adaptive Gripper and Its Intrinsic Force Sensing Method10.1109/TRO.2021.3060971 ↗
23. Bio-inspired sustainable electrospun quantum nanostructures for high quality factor enabled face masks and self-powered intelligent theranostics10.1016/j.cej.2024.157752 ↗