Passive Sensing Jaw for Grasping and Orienting
| العنوان: | Passive Sensing Jaw for Grasping and Orienting |
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| المؤلفون: | Alessandro Luchetti, Mariolino De Cecco, Matteo Perotto, Paolo Bosetti, Daniele Fontanelli, Luigi Palopoli, Fabiano Zenatti, Matteo Zanetti, Luca Maule, Mattia Tavernini |
| المصدر: | Global Journal of Researches in Engineering. :27-36 |
| بيانات النشر: | Global Journals, 2022. |
| سنة النشر: | 2022 |
| مصطلحات موضوعية: | General Medicine |
| الوصف: | The goal of this work is to present an innovative design for a smart robotic gripper, which is able to grasp different randomly deployed prismatic and cylindrical packages and orient them through a mechanically passive alignment system with sensing capability. It consists in a new concept of end-effector combined with an ad-hoc path planning for aligning residual worst cases. The system uses gravity and an angular sensor embedded into the gripper to detect the object orientation and, if necessary, formulate a control strategy to align it before the release phase. An initial screening experiment was executed to find the parameters that most influence the alignment angle and execution time. Two worst-case pack ages were tested in different working conditions. The results show that the percentage of success of the system is high even in the worst operating conditions. |
| تدمد: | 2249-4596 0975-5861 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::ffe9b3bf85feb1efa34979900496979c https://doi.org/10.34257/gjreavol22is2pg27 |
| حقوق: | OPEN |
| رقم الأكسشن: | edsair.doi...........ffe9b3bf85feb1efa34979900496979c |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 22494596 09755861 |
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