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Fingerprint inspired advanced end-effector and its applications

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Friction 2022年第10期10卷 1739-1750页

作者： Sung Ho LEE Hyo Sung KIM Han Jun PARK Moon Kyu KWAK Department of Electrical Engineering and Computer Science University of MichiganAnn Arbor 48109USA Department of Mechanical Engineering Kyungpook National UniversityDaegu 41566Republic of Korea

The human fingertip consists of a fingerprint with many micro-grating *** main roles of the fingerprint could be divided into two purposes,namely,the enhancement of the frictional force and the effective transmittance of the *** this study,we present the fingerprint-inspired end-effector that has not only admirable frictional force but also electric *** end-effector is composed of fluorocarbon rubber,one of the famous materials to achieve high frictional force and *** various experiments,the novel performance of micro structured fluorocarbon rubber end-effector(MSFE)is characterized by comparing with a macroscale patterned sample(MPS),which has been already used in real industrial *** results are analyzed ***,as feasible applications,we suggest two applications based on the role of the *** is the conductive astronaut glove with high frictional force,and the other one is a non-slip pad for the next-generation glass transfer *** these experiments,we successfully observe the enhanced system performance and confirm the possibility of using the MSFE as feasible *** believe that the MSFE could be a useful and powerful alternative as an end-effector,not only in the aerospace industry but also in display manufacturing processes.

关键词： fingerprint end-effector fluorocarbon rubber(FKM) glass transfer system spacesuit

A review of the end-effector of large space manipulator with capabilities of misalignment tolerance and soft capture

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Science China(Technological Sciences) 2016年第11期59卷 1621-1638页

作者： FENG Fei TANG LiNa XU JianFeng LIU Hong LIU YiWe State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology (HUST) Wuhan 430074 China Shanghai Aerospace Equipments Manufacturer Shanghai 200245 China State Key Laboratory of Robotics and System Harbin Institute of Technology (HIT) Harbin 150080 China

The space manipulator which has advantages of high dexterity and universality, is used to the space capturing usually. According to the different types of mechanical interfaces of targets, the on orbit capturing operation includes capturing of cooperative target and capturing of uncooperative target. The performances of the famous large space manipulators named space shuttle remote manipulator system(SRMS), the space station remote manipulator system(SSRMS) and the Europe robotic arm(ERA) are reviewed and studied respectively. Moreover, the space manipulators being developed by China for space station is also surveyed. Based on the performance analysis of the large space manipulators and end-effectors, which are adapted to the construction and daily maintenance for the large space structure such as the space station, the basic requirements of large misalignment tolerance capability, soft capturing capability and hard docking capability for the end-effector of large space manipulator are proposed in this paper. According to these requirements, the capture mechanism and methods that can enable the end-effector to have the capability of misalignment tolerance and soft capturing are presented. The development trend and key technologies of the large space manipulators and the end-effectors are also reviewed.

关键词： space station large space manipulator end-effector large misalignment tolerance soft capture on-orbit capturing

Design Schemes and Comparison Research of the end-effector of Large Space Manipulator

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 674-687页

作者： FENG Fei LIU Yiwei LIU Hong CAI Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150080 China

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on ***,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical *** to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are *** the end-effector should accommodate the following misalignments of the mechanical *** translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,*** end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed *** three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in *** capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS *** results show that the misalignment tolerance capabilities of these two schemes could satisfy the *** the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,*** the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals *** end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and t

关键词： end-effector large space manipulator docking mechanism soft capture misalignment tolerance passive compliance active compliance

Development of Chinese large-scale space end-effector

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Journal of Central South University 2011年第3期18卷 600-609页

作者：刘宏谭益松刘伊威介党阳高凯蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was *** flexible steel cables were adopted to capture the payload with large capture *** screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high *** experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,*** maximum connection stiffness is 4 800 N·*** end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.

关键词： large tolerance capture high stiffness connection end-effector flexible steel cable ball screw four bar linkage

Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system

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Journal of Central South University 2013年第11期20卷 3015-3030页

作者：丰飞刘伊威刘宏蔡鹤皋 State Key Laboratory of Robotics and System Harbin Institute of Technology

The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft *** to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was *** analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector ***,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture *** capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS *** results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft *** translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.

关键词： space station on-orbit-servicing large space manipulator end-effector soft capture large misalignment tolerance

Design and simulation of an integrated end-effector for picking kiwifruit by robot

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Information Processing in Agriculture 2020年第1期7卷 58-71页

作者： Longtao Mu Gongpei Cui Yadong Liu Yongjie Cui Longsheng Fu Yoshinori Gejima College of Mechanical and Electronic Engineering Northwest A&F UniversityYanglingShaanxi 712100China China Aviation Lithium Battery Research Institute Co. LtdChangzhouJiangsu 213200China Key Laboratory of Agricultural Internet of Things Ministry of Agriculture and Rural AffairsYanglingShaanxi 712100China Shaanxi Key Laboratory of Agricultural Information Perception and Intelligent Service YanglingShaanxi 712100China Faculty of Agriculture University of MiyazakiMiyazaki 8892192Japan

The harvesting of fresh kiwifruit is a labor-intensive operation that accounts for more than 25%of annual production *** harvesting technologies are thus being developed to reduce labor requirements for harvesting *** improve the efficiency of a harvesting robot for picking kiwifruit,we designed an end-effector,which we report herein along with the results of tests to verify its *** using the established method of automated picking discussed in the literature and which is based on the characteristics of kiwifruit,we propose an automated method to pick kiwifruit that consists of separating the fruit from its stem on the *** method is experimentally verified by using it to pick clustered kiwifruit in a scaffolding canopy *** the experiment,the end-effector approaches a fruit from below and then envelops and grabs it with two bionic *** fingers are then bent to separate the fruit from its *** grabbing,picking,and unloading processes are integrated,with automated picking and unloading performed using a connecting rod linkage following a trajectory *** trajectory was analyzed and validated by using a simulation implemented in the software Automatic Dynamic Analysis of Mechanical Systems(ADAMS).In addition,a prototype of an end-effector was constructed,and its bionic fingers were equipped with fiber sensors to detect the best position for grabbing the kiwifruit and pressure sensors to ensure that the damage threshold was respected while *** for size and shape were incorporated by following a trajectory groove from grabbing and picking to *** end-effector separates clustered kiwifruit and automatically grabs individual *** takes on average 4–5 s to pick a single fruit,with a successful picking rate of 94.2%in an orchard test featuring 240 *** study shows the grabbing–picking–unloading robotic end-effector has significant potential to facilitate the harvesting of kiwif

关键词： Kiwifruit end-effector Harvesting robot Trajectory model Simulation analysis

Design of a flexible end-effector based on characteristics of tomatoes

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International Journal of Agricultural and Biological Engineering 2022年第24期15卷 13-24页

作者： Kehong Zhou Liru Xia Jun Liu Mingyan Qian Jie Pi Institute of Agricultural Engineering Jiangsu UniversityZhenjiang 212001China Institute of Agricultural Facilities and Equipment Jiangsu Academy of Agricultural SciencesKey Laboratory of Protected Agriculture Engineering in the Middle and Lower Reaches of Yangtze RiverMinistry of Agriculture and Rural AffairesNanjing 210014China

The end-effector is the last executing part of the interaction between robots and *** this study,the physical characteristics of tomatoes and the tomato end-effector of the fluidic elastomer actuator type were *** was no correlation between the test point,the mass,the size and the rupture force of *** non-destructive clamping force of tomatoes was 11.13 *** were statistically significant correlations between the number of finger chambers,the transverse diameter of tomatoes,the inflation pressure and the clamping *** inflation pressure and the size of tomatoes were directly proportional to the clamping *** fingers with more chambers had higher flexibility,the number of chambers was inversely proportional to the slope of the horizontal force-pressure curve,and the number of chambers was directly proportional to the angle between the total clamping force and the horizontal direction.A flexible end-effector was designed by genetic algorithm according to the physical characteristics of tomatoes and the simulation results of the finger of the *** test results of the end-effector showed that the tomatoes would be successfully clamped by the end-effector composed of three four-chamber fingers in a static situation with the inflation pressure less than the optimized inflation pressure(28.293 kPa).When in a dynamic situation,the success rate of tomatoes being clamped by the end-effector with an inflation pressure of 29 kPa was 97%.The tomatoes in the static clamping test and the dynamic clamping test were not damaged.

关键词： end-effector fluid elastomer actuator non-destructive flexible genetic algorithm characteristics of tomatoes

A novel algorithm of normal attitude regulation for the designed end-effector of a flexible drilling robot

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Journal of Southeast University(English Edition) 2012年第1期28卷 29-34页

作者：张来喜王兴松东南大学机械工程学院南京211189

An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.

关键词： four-point position regulation end-effector flexible drilling robot drilling machining on curved surface

Design and Simulation of Virtual Prototype for Picking Manipulator’s end-effector

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Design and Simulation of Virtual Prototype for Picking Manip...