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Research Papers

Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper

[+] Author and Article Information
Loan Le

PMAR Lab,
DIME,
University of Genoa,
Genoa 16145, Italy
e-mail: lethloan@dimec.unige.it

Matteo Zoppi

PMAR Lab,
DIME,
University of Genoa,
Genoa 16145, Italy
e-mail: zoppi@dimec.unige.it

Michal Jilich

PMAR Lab,
DIME,
University of Genoa,
Genoa 16145, Italy
e-mail: jilich@dimec.unige.it

Han Bo

PMAR Lab,
DIME,
University of Genoa,
Genoa 16145, Italy
e-mail: hanbo@dimec.unige.it

Dimiter Zlatanov

PMAR Lab,
DIME,
University of Genoa,
Genoa 16145, Italy
e-mail: zlatanov@dimec.unige.it

Rezia Molfino

PMAR Lab,
DIME,
University of Genoa,
Genoa 16145, Italy
e-mail: molfino@dimec.unige.it

Manuscript received September 26, 2014; final manuscript received November 24, 2014; published online December 31, 2014. Assoc. Editor: Venkat Krovi.

J. Mechanisms Robotics 7(1), 011011 (Feb 01, 2015) (8 pages) Paper No: JMR-14-1267; doi: 10.1115/1.4029292 History: Received September 26, 2014; Revised November 24, 2014; Online December 31, 2014

The paper (a first version of this work was presented in Aug. 2014 at ASME-DETC in Buffalo, NY) describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom (dof) and includes both rigid and flexible elements. A variable-stiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific application-determined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variable-stiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described.

Copyright © 2015 by ASME
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References

Molfino, R., Zoppi, M., and Carca, E., 2009, “Robotic Soft Material Handling,” Transforming Clothing Production Into a Demand-Driven, Knowledge-Based, High-Tech Industry: The Leapfrog Paradigm, Springer, London, pp. 31–41.
Carca, E., Zoppi, M., and Molfino, R., 2008, “A Cooperative Gripper for Handling and Hanging Limp Parts,” 11th CLAWAR International Conference on Advances in Mobile Robotics, World Scientific, Coimbra, Portugal, Sept. 8–10, pp. 843–850.
Taylor, P., and Pollet, D., 1997, “Why is Automated Garment Manufacture so Difficult?,” 8th International Conference on Advanced Robotics, ( ICAR’97), Monterey, CA, July 7–9, pp. 39–44.
Iberall, T., and MacKenzie, C. L., 1990, “Opposition Space and Human Prehension,” Dextrous Robot Hands, S. T.Venkataraman, and T.Iberall, eds., Springer, New York, pp. 32–54.
Lederman, S., and Taylor, M., 1972, “Fingertip Force, Surface Geometry, and the Perception of Roughness by Active Touch,” Percept. Psychophysics, 12(5), pp. 401–408. [CrossRef]
Le, L., Zoppi, M., Jilich, M., Camoriano, R., Zlatanov, D., and Molfino, R., 2013, “Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling,” ASME Paper No. DETC2013-13150. [CrossRef]
Wolf, S., and Hirzinger, G., 2008, “A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation,” IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, May 19–23, pp. 1741–1746. [CrossRef]
Albu-Schäffer, A., Eiberger, O., Grebenstein, M., Haddadin, S., Petit, F., and Chalon, M., 2010, “Dynamic Modelling and Control of Variable Stiffness Actuators,” IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3–7, pp. 2155–2162. [CrossRef]
Wassink, M., Carloni, R., and Stramigioli, S., 2010, “Port-Hamiltonian Analysis of a Novel Robotic Finger Concept for Minimal Actuation Variable Impedance Grasping,” IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3–7, pp. 771–776. [CrossRef]
Wimbock, T., Ott, C., Albu-Schaffer, A., Kugi, A., and Hirzinger, G., 2008, “Impedance Control for Variable Stiffness Mechanisms With Nonlinear Joint Coupling,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, Sept. 22–26, pp. 3796–3803. [CrossRef]
Cutkosky, M. R., and Howe, R. D., 1990, “Human Grasp Choice and Robotic Grasp Analysis,” Dextrous Robot Hands, S. T.Venkataraman, and T.Iberall, eds., Springer, New York, pp. 5–31.
Klatzky, R. L., and Lederman, S., 1990, “Intelligent Exploration by the Human Hand,” Dextrous Robot Hands, S. T.Venkataraman, and T.Iberall, eds., Springer, New York, pp. 66–81.
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Figures

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Fig. 1

The planar kinematic chain of the gripper

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Fig. 2

Constraint wrenches

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Fig. 3

Schematic of a gas–liquid VIA

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Fig. 4

Schematic of the gripper VIA system

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Fig. 5

The VIA system implemented on the gripper (power box)

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Fig. 6

VIA stiffness versus linear-motor displacement

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Fig. 7

Developed mechanism including springs

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Fig. 8

Detailed views of the 3 R and 4 R submechanisms of the fingers assembly

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Fig. 9

Five-bar and four-bar linkages on the Schunk gripper

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Fig. 10

The gripper prototype

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Fig. 11

Relative finger movement during rubbing motion

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Fig. 12

Control schematic

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Fig. 13

VIA experiment setup

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Fig. 14

VIA stiffness during loading and unloading

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Fig. 15

VIA stiffness with initial compression

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