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Robotics
Volume 5
Issue 2
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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 171 | Viewed by 28242
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 - 7 Apr 2016
Cited by 1 | Viewed by 7728
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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Figure 1

Figure 1
<p>Human operations in moving a fabric. (<b>a</b>) Wiping motion; (<b>b</b>) Pinching motion; (<b>c</b>) Unfolding motion; (<b>d</b>) Placing motion.</p> Full article ">Figure 2
<p>Representation of a wiping motion during displacement. (<b>a</b>) Initial condition; (<b>b</b>) Wiping slide; (<b>c</b>) Wiping deformation.</p> Full article ">Figure 3
<p>Pinching of a fabric by robotic fingers. (<b>a</b>) With one side of the surface; (<b>b</b>) With both sides of the surface.</p> Full article ">Figure 4
<p>Strategy of fabric pinching. (<b>a</b>) Using a gripper, a robotic hand presses on an edge of the fabric; (<b>b</b>) The hand moves the gripper to wrinkle the fabric; (<b>c</b>) The hand moves up the fabric; (<b>d</b>) The gripper pinches the edge of the fabric.</p> Full article ">Figure 5
<p>Formation of a wrinkle by robotic fingers.</p> Full article ">Figure 6
<p>Physical model of wiping motion. (<b>a</b>) Sliding motion by the <span class="html-italic">i</span>-th finger; (<b>b</b>) Pressing motion by the <span class="html-italic">j</span>-th finger.</p> Full article ">Figure 7
<p>Making a pinching area using residual deformation.</p> Full article ">Figure 8
<p>Prototype of a robotic hand.</p> Full article ">Figure 9
<p>Pinching motion for a fabric by a single-armed robotic hand. (<b>a</b>) The system visually detects a candidate area for pinching; (<b>b</b>) Using its fingertips, the robotic hand presses the fabric; (<b>c</b>) The hand wrinkles the fabric by shutting two grippers horizontally; (<b>d</b>) The hand opens the grippers; (<b>e</b>) The hand moves up; (<b>f</b>) The hand inserts grippers under the fabric; (<b>g</b>) The hand shuts the grippers vertically to pinch the fabric; (<b>h</b>) The system finishes the sequence.</p> Full article ">
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 6383
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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Figure 1

Figure 1
<p>System configuration scheme: (<b>a</b>) The system setup; (<b>b</b>) The measured object.</p> Full article ">Figure 2
<p>Target images at different temperatures: (<b>a</b>) at low temperature; (<b>b</b>) at normal temperature.</p> Full article ">Figure 3
<p>Experiment system.</p> Full article ">Figure 4
<p>Feature extraction: (<b>a</b>) The accumulation array; (<b>b</b>) The result of feature extraction.</p> Full article ">Figure 5
<p>System setup for offline experiment.</p> Full article ">Figure 6
<p>The vibration curves of offline vibration experiment: (<b>a</b>) in X<sub>w</sub> direction; (<b>b</b>) in Y<sub>w</sub> direction; (<b>c</b>) in Z<sub>w</sub> direction.</p> Full article ">Figure 7
<p>The vibration curves before filtering in measurement experiment: (<b>a</b>) in X<sub>w</sub> direction; (<b>b</b>) in Y<sub>w</sub> direction; (<b>c</b>) in Z<sub>w</sub> direction.</p> Full article ">Figure 8
<p>The vibration curves after filtering in measurement experiment: (<b>a</b>) in X<sub>w</sub> direction; (<b>b</b>) in Y<sub>w</sub> direction; (<b>c</b>) in Z<sub>w</sub> direction.</p> Full article ">Figure 9
<p>The spectra of the vibration results after filtering: (<b>a</b>) in X<sub>w</sub> direction; (<b>b</b>) in Y<sub>w</sub> direction; (<b>c</b>) in Z<sub>w</sub> direction.</p> Full article ">
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