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Robotics, Volume 5, Issue 2 (June 2016) – 3 articles

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254 KiB  
Review
State of the Art Robotic Grippers and Applications
by Kevin Tai, Abdul-Rahman El-Sayed, Mohammadali Shahriari, Mohammad Biglarbegian and Shohel Mahmud
Robotics 2016, 5(2), 11; https://doi.org/10.3390/robotics5020011 - 17 Jun 2016
Cited by 157 | Viewed by 25575
Abstract
In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft [...] Read more.
In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers. Full article
1617 KiB  
Article
A Pinching Strategy for Fabrics Using Wiping Deformation
by Mizuho Shibata and Shinichi Hirai
Robotics 2016, 5(2), 10; https://doi.org/10.3390/robotics5020010 - 07 Apr 2016
Viewed by 7375
Abstract
This paper discusses a strategy by which a robotic hand can use the physical properties of a fabric to pinch the fabric. Pinching may be accomplished by using a wiping motion, during which the movement and deformation of a deformable object occur simultaneously. [...] Read more.
This paper discusses a strategy by which a robotic hand can use the physical properties of a fabric to pinch the fabric. Pinching may be accomplished by using a wiping motion, during which the movement and deformation of a deformable object occur simultaneously. The wiping motion differs from the displacement of a deformable object. During the wiping motion, there is contact, but no relative movement, between the manipulator and the object, whereas, during displacement, there is both contact and relative movement between the object and the floor. This paper first describes wiping motion and distinguishes wiping slide from wiping deformation by displacement of the internal points of an object. Wiping motion is also shown to be an extended scheme of pushing and sliding of rigid objects. Our strategy for pinching a fabric is accomplished with a combination of wiping deformation and residual deformation of the fabric under unloaded conditions. Using this strategy, a single-armed robotic hand can pinch both surfaces of the fabric without handover motion. Full article
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3567 KiB  
Article
Vibration Measurement in High Precision for Flexible Structure Based on Microscopic Vision
by Xian Tao, De Xu, Zhengtao Zhang, Kai Wang and Xiaobo Qi
Robotics 2016, 5(2), 9; https://doi.org/10.3390/robotics5020009 - 30 Mar 2016
Cited by 5 | Viewed by 6107
Abstract
Vibration measurement for flexible structures is widely used in various kinds of precision engineering fields. However, it is a challenge to measure vibration in special applications, such as cryogenic, dangerous and magnetic interference. In this paper, a high-precision vibration measurement system based on [...] Read more.
Vibration measurement for flexible structures is widely used in various kinds of precision engineering fields. However, it is a challenge to measure vibration in special applications, such as cryogenic, dangerous and magnetic interference. In this paper, a high-precision vibration measurement system based on machine vision is designed. The circle center on the target is employed as the image feature. The circle feature is extracted using the improved algorithm based on gradient Hough transform. Then the image Jacobian matrix is used to compute the vibrations in Cartesian space from the image feature changes. Experiments verify the effectiveness of the proposed methods. Full article
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