[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.21289/KSIC.2022.25.2.185

Noble Development of Array Type Gripper for Robot Arm

Lee, Jaeman (Graduate School IT Convergence and Electronics Eng. Hansei University)
Lee, Wangheon (Dept. of Computer Eng. Hansei University)

Publication Information

Journal of the Korean Society of Industry Convergence / v.25, no.2_1, 2022 , pp. 185-193 More about this Journal

Abstract

For grippers of industrial robots, parallel grippers and multi-function finger grippers are used. The former has the advantage of low cost but has the disadvantage of low precision, and the latter has the advantage of excellent precision but has the disadvantage of being expensive. In this paper, we developed a grip that can detects the various shapes of the object to be gripped on the gripper surface by using mesured pressure information frome Veloset Sheet sensor so that the gripper can be gripped without deforming the surface of the gripper. Also we did not only developed the array type gripper and 4 array type grippers (ATG), but also confirmed the usefulness of array type gripper developed in this study according to the 4 predefined evaluation criteria

Keywords

Noble; Array Type; Gripper; Contact Force Measurent; Finfer Array Cell(FAC);

Citations & Related Records

Times Cited By KSCI : 2 (Citation Analysis)

Reference
Cited By KSCI

1	H.Kim,al., "Sensor Technology and Activities," Bokdu Publishing House, 2016.
2	B.Y.Lee, "Sensor Measurement Engineering," Hongneung Pub. House, 2021.
3	H.Y.Yu, et al., "Arduino Robot Bonanza," BJ public, 2014.
4	C.G Kanget et al., "Robot Dynamics," and Control 1994, Heejungdang, Korea.
5	Adam J. Spiers, MinasV. Liarokapis, al. "Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors," IEEE Transactions on Haptics.
6	B.J.Kim. "Flexible robotic arm position control," Master's thesis. Chungnam National Uni. Graduate School. 2013.
7	Y.M.JI el al., "Sensor," Hanbit Media, 2015.
8	Satoru Goto,"Robot Arms," Intech Open Limited, 2011.
9	Josie Hughes el al., "Tactile Sensing Applied to the Universal Gripper Using Conductive thermoplastic Elastomer," Soft Robotics. 2018.
10	S.W.Park, "A study on the humanoid robot hand for stable gripping and manipulation," Master's thesis. Grad. School of Science and Technology University. 2012.
11	H.D.Yang. "Development of a humanoid robot hand with 16 degrees of freedom reverse driving joint for stable gripping," Korean Society of Robotics, Vol. 6, No. 3 220-229, 2011 DOI
12	정성훈, 김한성, "힘/모멘트 측정기능을 갖는 6축 로봇 베이스 플랫폼 개발,"한국산업융합학회 논문집 제 22권 제 3호 pp.315-324. DOI
13	H.Y.Lee, et al., "Nonut's Raspberry Pi Robot," Hanbit Publishing, 2015.
14	W.H.Lee, "Motor control," Sungandang. 2001.
15	I.S.Kim. "XP Embeded Based articulated robot system," Master's thesis. Honam Uni. of Grad. School of Electrical and Electronic Engineering. 2011.
16	S.T.Venkataraman, T.Iberall, "Dex-trous Robot Hands," Springer Science & Bus-iness Media., 2012.
17	K.J.Yu, "Arduino Uno Motor control," Ohm, 2016.
18	J.E.Bae, et al., "Arduino DIY Project," Hanbit Publishing Co., 2014.
19	J.M.Lee and W.H.Lee, "The development of Arrsy Type Gripper Device for Robot Arm," pp.70-72, ICROS 2019 Conference proceeding, May 16~18, 2019, Kyunju. Korea.