Development of new extensible components for enabling a more flexible usage of jamming-gripper

Shahsevani R, Reitelshofer S, Bodaghi MA, Franke J (2019)

Publication Type: Conference contribution, Conference Contribution

Publication year: 2019

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 196-202

Conference Proceedings Title: IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Event location: Dali CN

ISBN: 9781728163215

DOI: 10.1109/ROBIO49542.2019.8961834

Abstract

In many applications, gripping systems are key elements to turn industrial robots into flexible and versatile handling systems. Depending on the gripping principle those systems can either be rather limited or very flexible in terms of gripping a broad variety of different objects. The so-called jamming-gripper can grasp a wide range of objects by passively adapting to the shape of different workpieces. The purpose of the work described in this paper is to develop extensible components for optimizing the jamming-gripper. Concerning the previous jamming-gripper, the problems related to a mechanical structure, installing a filter, a balloon as a membrane, and filling the balloon with powder are investigated to improve the jamming-gripper system. A new gripper system designed is presented to not only address the existing problems but also to make it even more userfriendly and practical. Tests are performed to determine the influence of three different filling ratios of the membrane on the gripping performance for objects with complex geometries.

Authors with CRIS profile

Rasool Shahsevani Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik

How to cite

APA:

Shahsevani, R., Reitelshofer, S., Bodaghi, M.A., & Franke, J. (2019). Development of new extensible components for enabling a more flexible usage of jamming-gripper. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 196-202). Dali, CN: Institute of Electrical and Electronics Engineers Inc..

MLA:

Shahsevani, Rasool, et al. "Development of new extensible components for enabling a more flexible usage of jamming-gripper." Proceedings of the 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali Institute of Electrical and Electronics Engineers Inc., 2019. 196-202.

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