한국생산제조학회 학술지 영문 홈페이지
[ Special Issue : Engineering Design of ADBL ]
Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp.195-201
ISSN: 2508-5107 (Online)
Print publication date 15 Jun 2020
Received 07 Apr 2020 Revised 06 May 2020 Accepted 08 May 2020
DOI: https://doi.org/10.7735/ksmte.2020.29.3.195

세 개의 공압 액추에이터로 구성된 유연 그리퍼의 개발

김종형a, * ; 박인남a
Development of a Flexible Gripper with Three Pneumatic Actuators
Jong Hyeong Kima, * ; In Nam Parka
aDepartment of Mechanical System Design Engineering, Seoul National university of Science & Technology

Correspondence to: *Tel.: +82-2-970-6357 E-mail address: johnkim@seoultech.ac.kr (Jong Hyeong Kim).

Abstract

As the field of automation system expands widely with technological advances, the variety of highly adaptable end effectors and their mechanical freedom become significant. Rigid gripper, initially popular, now faces new challenges in various robotic applications because its movement is limited with an inflexible mechanical configuration of the link and joint. In this paper, a flexible gripper with three pneumatic actuators is developed for handling fragile or unshaped objects. The mapping between the pneumatic actuator and air pressure has nonlinear characteristics for motion control. Furthermore, it can change slightly by a small difference in manufacturing condition. The actuators, made from silicon, are driven pneumatically with a controller of the micro-processor. We demonstrated a classic robot task of turning a fragile light bulb into a socket by the flexible gripper, which has been regarded as an arduous job for the rigid gripper.

Keywords:

Flexible gripper, Pneumatic actuators, Robot, Gripping, Look-up table

Acknowledgments

이 연구는 서울과학기술대학교 교내연구비의 지원으로 수행되었습니다.

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Jong Hyeong Kim

Professor in the Department of Mechanical System Design Engineering, Seoul National University of Science & Technology.His research interests include machine vision, artificial intelligence, robot application and factory automation.

E-mail: johnkim@seoultech.ac.kr