改进机器人抓手的抓握力行为:模型、仿真和实验

IF 2.9 Q2 ROBOTICS Robotics Pub Date : 2023-10-31 DOI:10.3390/robotics12060148
Giuseppe Vitrani, Simone Cortinovis, Luca Fiorio, Marco Maggiali, Rocco Antonio Romeo
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引用次数: 0

摘要

机器人抓手允许工业机器人与周围环境互动。然而,在常见的工业夹持器中,夹持力的控制结构仍然很少见。在这种情况下,需要一个或多个传感器(例如,力或扭矩传感器)。然而,这种传感器的结合可能会严重影响夹持器的成本,无论其类型(例如,气动或电动)。另一种方法是开环力控制策略。因此,本工作提出了一种优化机器人抓手开环抓取力行为的方法。为此,建立了一个专门的机械手,并建立了它的数学模型。利用该模型对夹持器的静态和动态受力特性进行预测,模拟不同实验条件下的夹持任务。模拟和实验结果都表明,通过控制手指与物体接触界面的力学特性(例如刚度),可以大大减少稳态力的变化,以及手指弹跳等不良影响。此外,与大多数工业刚性夹具的抓取方法不同,物体的大小并不需要,这通常涉及高手指速度。这些结果可能为构思更便宜、更可靠的开环力控制技术铺平道路,用于机器人抓取器。
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Improving the Grasping Force Behavior of a Robotic Gripper: Model, Simulations, and Experiments
Robotic grippers allow industrial robots to interact with the surrounding environment. However, control architectures of the grasping force are still rare in common industrial grippers. In this context, one or more sensors (e.g., force or torque sensors) are necessary. However, the incorporation of such sensors might heavily affect the cost of the gripper, regardless of its type (e.g., pneumatic or electric). An alternative approach could be open-loop force control strategies. Hence, this work proposes an approach for optimizing the open-loop grasping force behavior of a robotic gripper. For this purpose, a specialized robotic gripper was built, as well as its mathematical model. The model was employed to predict the gripper performance during both static and dynamic force characterization, simulating grasping tasks under different experimental conditions. Both simulated and experimental results showed that by managing the mechanical properties of the finger–object contact interface (e.g., stiffness), the steady-state force variability could be greatly reduced, as well as undesired effects such as finger bouncing. Further, the object’s size is not required unlike most of the grasping approaches for industrial rigid grippers, which often involve high finger velocities. These results may pave the way toward conceiving cheaper and more reliable open-loop force control techniques for use in robotic grippers.
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来源期刊
Robotics
Robotics Mathematics-Control and Optimization
CiteScore
6.70
自引率
8.10%
发文量
114
审稿时长
11 weeks
期刊介绍: Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM
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