Design of an industrial robotic gripper for precise twisting and positioning in high-speed assembly

Author

Cannella, F. ; Fei Chen ; Canali, Carlo ; Eytan, A. ; Bottero, A. ; Caldwell, Darwin

Author_Institution

Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy

fYear

2013

Firstpage

443

Lastpage

448

Abstract

In electronic manufacturing system, the design of the robotic hand is important for the successful accomplishment of the assembly task. Due to the restriction of the architecture of traditional robotic hands, it is difficult to grasp the cylinder shaped assembly parts with correct posture. In this research, a novel 4-DOF jaw like gripper is designed and built for precise positioning and twisting online. It can apply a constant gripping force on assembly parts and perform reliable twisting movement. Manipulating a cylinder shaped assembly part by robot, as an experimental case in this paper, is studied to evaluate the performance. The effectiveness of proposed gripper design and mechanical analysis is proved by the experiments.

Keywords

electronic equipment manufacture; grippers; industrial manipulators; manipulator kinematics; manufacturing systems; position control; robotic assembly; 4-DOF jaw like gripper design; cylinder shaped assembly part manipulation; electronic manufacturing system; high-speed assembly; industrial robotic gripper design; kinematics analysis; mechanical analysis; performance evaluation; precise positioning; precise twisting; robotic hand architecture; Assembly; Grippers; Production; Robot kinematics; Robot sensing systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2013 IEEE/SICE International Symposium on

Conference_Location

Kobe

Type

conf

DOI

10.1109/SII.2013.6776733

Filename

6776733