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Algorithm for the extraction of optimal gripping force range with the robot gripper

Title
Algorithm for the extraction of optimal gripping force range with the robot gripper
Authors
Shin, Dong HwanJeong, Choong PyoPark, Tae SangKim, Yoon GuAn, Jin Ung
DGIST Authors
Shin, Dong Hwan; Jeong, Choong Pyo; Park, Tae Sang; Kim, Yoon Gu; An, Jin Ung
Issue Date
2013
Citation
2012 International Conference on Mechatronics and Materials Engineering, ICMME 2012, 251, 164-168
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
1660-9336
Abstract
The arm of robot consists of a manipulator and an end-effector. The end-effector is doing a specific work such as welding, picking and placing, sawing, deburring, suction, etc. with for the specific object of robot system. Here we are focused on the gripper among end-effectors. If the gripper generates the excessive gripping force, then the gripped material can have a permanent deformation. On the other hand, if the gripping force is too small, then the gripped material can be slip from the end-effector, drop to the floor and will get damaged. Therefore, it is important to use the adequate gripping force of the gripper. In this paper, we suggest the algorithm which is easy to automate, for the extraction of optimal gripping force range, with the estimation of frictional coefficient and young's modulus. © (2013) Trans Tech Publications, Switzerland.
URI
http://hdl.handle.net/20.500.11750/1776
DOI
10.4028/www.scientific.net/AMM.251.164
Publisher
Trans Tech Publications Ltd.
Related Researcher
Files:
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Collection:
ETC2. Conference Papers
Convergence Research Center for Wellness2. Conference Papers
Division of IoT∙Robotics Convergence Research2. Conference Papers


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