Hostname: page-component-586b7cd67f-2plfb Total loading time: 0 Render date: 2024-11-22T09:50:00.888Z Has data issue: false hasContentIssue false
  • English
  • Français

Self-adaption grasping force analysis for an apple sorting hand-claw with robustness

Published online by Cambridge University Press:  04 July 2014

Jun Zhang  and
Guangyuan Liu
Jun Zhang
Affiliation:
Department of Mechanical Engineering, Jiangnan University, Wuxi 214122, P.R. China Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, P.R. China
Guangyuan Liu*
Affiliation:
Department of Mechanical Engineering, Jiangnan University, Wuxi 214122, P.R. China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

A flexible apple sorting hand-claw with three fingers evenly on the spiral chuck is designed. Each finger with series double hinges is driven by one air-cylinder. Sizes of hand-claw and parameters of two torsion springs round axes of series double hinges are obtained via global optimization based on the grid method so that the two torsion springs exhibit a coordinative function to enhance compliance for grasping apples of different sizes under the same system pressure. Besides, the critical pressures and bending deflection between different working processes are studied. Results show that hinge 2 begins to rotate at 0.0270 MPa pressure, and when the pressure increases to 0.0634 MPa and 0.0746 MPa, hand-claw begins to touch the biggest and the smallest apples respectively. The curve of torsional angle versus pressure presents that angular velocity droops with homogeneous extension. Therefore, it is able to reduce impact and time in vain during the grasping process. Crucially, the grasping forces for grasping the smallest and the biggest apple are 4 N and 4.38 N respectively under the same 0.5 MPa pressure, indicating the excellent adaption performance and robust result for size variation of apples without any force sensors.

Keywords

Flexible hand-clawSelf-adaptionApple graspingGlobal optimizationRobust result
Type
Articles
Information
Robotica , Volume 34 , Issue 4 , April 2016 , pp. 723 - 737
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Carbone, G., “Grasping in robotics,” Mech. Mach. Sci. 10, 385–386 (2013).Google Scholar
2.Skinner, F., “Designing a multiple prehension manipulator,” J. Mech. Eng. 97 (9), 30–37 (1975).Google Scholar
3.Hanafusa, H. and Asada, H., A Robotic Hand with Elastic Fingers and Its Application to Assembly Process (MIT Press, Cambridge, MA, 1982).Google Scholar
4.Okada, T., “Computer control of multijointed finger system for precise object-handling,” IEEE Trans. Syst. Man Cybernet SMS 12 (3), 289–299 (1982).Google Scholar
5.Mason, M. T. and Salisbury, J. K., Robot hands and the Mechanics of Manipulation (MIT Press, Cambridge, MA, 1985).Google Scholar
6.Jacobsen, S. C., Wood, J. E., Knutti, D. F. and Biggers, K. B., “The Utah/M.I.T. dextrous hand: Work in progress,” Int. J. Robot. Res. 3 (4), 21–50 (1984).Google Scholar
7.Rothling, F., Haschke, R., Steil, J. and Ritter, H., “Platform portable anthropomorphic grasping with the bielefeld 20-DOF shadow and 9-DOF TUM hand,” In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA (Oct. 29–Nov. 2, 2007), pp. 2951–2956.Google Scholar
8.Hesse, S., Grippers and their Applications (Festo, Esslingen, Germany, 1998).Google Scholar
9.Guo, J. L., Zhao, D. A., Ji, W. and Xia, W., “Design and control of the open apple-picking-robot manipulator,” In:Proceedings of the 3rd IEEE International Conference on Computer Science and Information Technology (ICCSIT), Chengdu, China (Jul., 2010), vol. 2, pp. 5–8.Google Scholar
10.Zhao, D. A., Lv, J. D., Ji, W., Zhang, Y. and Chen, Y., “Design and control of an apple harvesting robot,” Biosyst. Eng. 110, 112–122 (2011).Google Scholar
11.Zhang, J. and Zhang, Q. J., “Bending of flexible joint driven by linear expandable artificial muscle,” Int. J. Modelling Simul. 33 (1), 1–6 (2011).Google Scholar
12.Li, Z. Q., Zhang, J. and Liu, G. Y., “Analysis of adaptability of manipulator for grasping apple by cable-driven pneumatic pressure,” Appl. Mech. Mater. 120, 389–392 (2012).Google Scholar
13.Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D. and Dollar, A. M., “A compliant, underactuated hand for robust manipulation,” Int. J. Robot. Res. 33 (5), 736–752 (2014).Google Scholar
14.Cutkosky, M. R., “On grasp choice, grasp model, and the design of hands for manufacturing tasks,” IEEE Trans. Robot. Autom. 5 (3), 269–279 (1989).Google Scholar
15.Wakamatsu, H., Hirai, S. and Iwata, K., “Static analysis of deformable object grasping based on bounded force closure,” In: Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota (Apr., 1996), vol. 4, pp. 3324–3329.Google Scholar
16.Astrand, B. and Baerveldt, A. J., “An agricultural mobile robot with vision-based perception for mechanical weed control,” Auton. Robots 13 (1), 21–35 (2002).CrossRefGoogle Scholar
17.Carbone, G., Ottaviano, E. and Ceccarelli, M., “An optimum design procedure for both serial and parallel manipulators,” IMech J. Mech. Eng. Sci. 221 (7), 829–843 (2007).Google Scholar
18.Xu, J. C., “A novel two-grid method for semilinear elliptic equations,” SIAM J. Sci. Comput. 15 (1), 231–237 (1994).Google Scholar
19.Boggs, P. T. and Tolle, J. W., “Sequential quadratic programming,” Acta Numer. 4, 1–51 (1995).CrossRefGoogle Scholar