• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.22-27
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• 2012

This paper presents a ball screw-driven robotic gripper mechanism which is possible to grasp an object and analyzes its kinematic feature for grasping by simulation. For the purpose of identifying the feature of the robot gripper, we try to confirm the kinematics relating the joint space of the driving actuator to the gripper's tip space. To be specific, the proposed robot gripper employs one actuator and a symmetrical closed-chain structure. As a result, the specified robot gripper has an advantage of robustness to external forces structurally, and it is easy to implement simple grasping operations. Also the gripper has a useful squeezing effect for power grasping.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.47-53
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• 2018

Various types of robotic arms are being used for industrial purposes, particularly with the small production of multi-products, and the importance of the gripper, which can be used in industrial fields, is increasing. This study evaluated a variable stiffness mechanism gripper that can change the stiffness using the nonlinearity of a flexible material. A prototype of the gripper was fabricated and examined to confirm the change in stiffness. The previous gripper was unable to grip objects in some situations with three variable stiffness mechanism. In addition, these mechanisms were not balanced and rarely rotated when the object was gripped. Therefore, a new type of gripper was needed to solve this problem. Inspired by the movements of the human palm and Venus Flytrap, a new type of a variable stiffness soft robot hand was designed. The possibility of grasping could be increased by interlocking the palm folding mechanism by pulling the tendon attached to the variable stiffness mechanism. The soft robotic hand was used to grasp objects of various shapes and weights more stably than the previous variable stiffness mechanism gripper. This new variable stiffness soft robot hand can be used selectively depending on the application and environment to be used.

• ICROS
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• v.9 no.1
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• pp.15-21
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• 2003

• Journal of the Korean Society for Precision Engineering
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• v.31 no.9
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• pp.821-829
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• 2014

This paper describes the development of a wireless communication controller of gripper contact signal for industrial robot. The wireless communication gripper controller is composed of a robot wireless communication controller and a gripper wireless transmitting/receiving controller. The robot wireless communication controller transmits the data of gripper sensors, and the gripper wireless communication controller receives the data. And the controller sends the data to the robot controller of industrial robot. As a result of the characteristics test of the wireless communication gripper controller, it is thought that the robot wireless communication controller A transmits and receives three gripper wireless transmitting/receiving controller A1, A2, A3 another. Thus, the developed wireless communication gripper controller can be used for transmitting/ receiving the data of gripper sensors for industrial robot.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1997.12a
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• pp.88-98
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• 1997

This study was conducted to develope the gripper of a robotic transplanter for bedding plants. Specific objectives of this study were 1) to develope the gripper for plug tray seedlings and 2) to find the suitable finger type for transplanting. The performance of gripper was tested and compared by two different transplanting methods, which were to consider the leaf position of seedlings and not to consider. The results of this study are summarized as follows. (1) The gripper of a robotic transplanter was developed and tested with 4 different finger type. (2) The shovel type finger was suitable for transplanting with the least percent of damaged seedlings.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.5 s.182
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• pp.77-84
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• 2006

This paper describes the design and implementation of a robot's gripper control system. In order to safely grasp an unknown object using the robot's gripper, the gripper should detect the force of gripping direction and the force of gravity direction, and should perform the force control using the detected forces and the robot's gripper control system. In this paper, the robot's gripper control system is designed and manufactured using DSP(Digital Signal Processor), and the gripper is composed of two 6-axis force/moment sensors which measures the Fx force(force of x-direction), Fy force, Fz force, and the Mx moment(moment of x-direction), My moment, Mz moment at the same time. The response characteristic test of the system is performed to determine the proportional gain Kp and the integral gain Ki of PI controller. As a result, it is shown that the developed robot's gripper control system grasps an unknown object safely.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.758-763
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for making a robot's gripper. In order to safely grasp and unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.2
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• pp.44-49
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• 1999

This paper is concerned with the theoretical and experimental study on the force conrtrol of a miniature robotic gripper. The gripper is an uniform flexible cantilever equipped with a distributed set of compact force sensor. As an actuator piezoelectric acturator, piezoelectric acturator is fixed with cupper plate at which the beam is clamped. The mathematical model of the assembled electro-mechaincal system is developed. The force sensor is described by a set of concentrated mass-spring system. The formulated equations of motion are applied to he study of a control problem where the gripper is commanded to grip an object The usefulness of the PID control technique is verified by experiment.

• Journal of Biosystems Engineering
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• v.22 no.3
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• pp.325-332
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• 1997

The use of a robotic transplanter reduces the labor requirement in the greenhouse by carrying out repetitive tasks in an accurate and reliable manner. The transplanter manipulates seedlings by means of end-effector. The end-effector is designed differently from an industrial robot because it manulates biological seedlings of variable size, shape, position, and orientation. This study was conducted to develop an end-effector of a robotic transplanter for bedding plants. The development of an end-effector included selection of the best finger type for the transplanting operation. The performance of developed end-effector was tested and compared with two different transplanting schemes depending on the leaf-orientation consideration. The end-effector developed in this research reliably handled seedlings during transplanting task. Results showed that the shovel type finger was suitable for transplanting with the damaging seedlings.

• Journal of Biosystems Engineering
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• v.23 no.3
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• pp.271-276
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• 1998

A gripper mechanical design using a pneumatic system was developed to successfully grip, hold, and release a seedling plug for transplanting it. The gripper comprised of two air cylinders and shovel-type fingers. The gripper can grasp and hold a seedling by sliding the two fingers attached to the two separate air-cylinders, mounted at an angle of 15$^{\circ}$ When releasing a plug, retraction of the fingers gives a seedling little attachment to the gripper. To prevent seedling from attaching to the fingers, press-plates were attached to the end of the gipper. Transplanting performance of the developed gripper was tested with cucumber seedlings at different soil moisture contents. Overall transplanting performance of developed gipper was higher than the performance of the previously developed gripper. Best transplanting result was achieved at medium level of soil moisture content.