Hybrid robot hand for stably manipulating one group objects

• Autorzy: Nguyen Pho Van , Nguyen Phi N. , Nguyen Tan , Le Thanh Lanh

Identyfikatory

DOI

10.24425/ame.2022.140421

• Języki publikacji: EN

Abstrakty

EN

Autonomous manipulation of group objects requires the gripper/robot hand to achieve high productivity without poor outcomes such as object slippage and damage. This article develops the robot hand capable of achieving effective performance in each trial of grasping the group objects. Our proposed robot hand consists of two symmetrical groups of hybrid fingers having soft pads on the grasping interfaces, which operate as a comb. The grasping ability of this robot hand was theoretically and experimentally validated by handling three groups of objects showcases: tea packs, toothbrushes, and mixing sticks. Additionally, validation results were compared with those of another soft robot hand having soft Pneunet fingers. In each trial, the experimental results showed that the proposed robot hand with hybrid fingers achieved more stable grasping states characterized by a higher number of grasped objects than those in the case of the soft robot hand. Also, experimental results were in good agreement with the predictions of the proposed theoretical analysis. Finally, better performances of the hybrid robot hand in handling the group object provide the bases for developing a novel-robotic application in industrial production.

Słowa kluczowe

EN

hybrid gripper; soft gripper; manipulate group objects; handle multiple objects; hybrid; robot hand

PL

chwytak hybrydowy; miękki chwytak; manipulowanie obiektami grupowymi

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2022
• Tom: LXIX, nr 3
• Strony: 375--391
• Opis fizyczny: Bibliogr. 24 poz., rys., tab.

Twórcy

autor

Nguyen Pho Van

• Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa, Japan

• https://orcid.org/0000-0002-7794-7863

autor

Nguyen Phi N.

• Department of Technology, Dong Nai Technology University, Bien Hoa 810000, Vietnam

autor

Nguyen Tan

• Department of Technology, Dong Nai Technology University, Bien Hoa 810000, Vietnam

autor

Le Thanh Lanh

• Department of Technology, Dong Nai Technology University, Bien Hoa 810000, Vietnam

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).