TY - GEN
T1 - Algorithm for the extraction of optimal gripping force range with the robot gripper
AU - Shin, Dong Hwan
AU - Jeong, Choong Pyo
AU - Park, Tae Sang
AU - Kim, Yoon Gu
AU - An, Jinung
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
KW - Frictional coefficient
KW - Gripper
KW - Optimal gripping force
KW - Young's modulus
UR - https://www.scopus.com/pages/publications/84872977239
U2 - 10.4028/www.scientific.net/AMM.251.164
DO - 10.4028/www.scientific.net/AMM.251.164
M3 - Conference contribution
AN - SCOPUS:84872977239
SN - 9783037855591
T3 - Applied Mechanics and Materials
SP - 164
EP - 168
BT - New Trends in Mechanical Engineering and Materials
T2 - 2012 International Conference on Mechatronics and Materials Engineering, ICMME 2012
Y2 - 13 July 2012 through 14 July 2012
ER -