Development of an Assembled Gripper for a Hydraulic Cutting Machine with a Novel Design for the Stable Holding of Various Shaped Objects

Abstract

The world experiences disasters caused by natural and industrial accidents. Various products have been developed and applied for manpower rescue and risk removal at disaster sites. However, in order to move debris and other obstacles generated after cutting and destroying operations to remove hazards at a disaster site, a mechanical device that can safely grasp various target objects is required. In this study, we developed a gripper that can be attached to a cutting machine typically used at disaster sites. The gripper proposed in this study can be attached and detached to the hydraulic cutter, and can stably hold a 100 kg object using the force generated from the hydraulic motor. In addition, a mechanism that can safely grip target objects regardless of shape has been applied. The gripper proposed in this study was verified through mathematical analysis and MFBD simulation. Finally, the gripper was actually manufactured and grip tested successfully.

This is a preview of subscription content, access via your institution.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

Abbreviations

\(F_{G}\) :

Minimum force to hold the target object

\(\vec{F}_{r6}\) :

Vertical force acting on the gripper

\(\vec{F}_{r5}\) :

Vertical force acting on the cutter

\(\vec{F}_{P1}\) :

Hydraulic piston force

\(\theta_{3}\) :

4-Bar linkage driving angle

\(F_{1}\) :

Vertical force of the rotational tooth generated by the hydraulic force.

\(F_{2}\) :

Reaction force against \(F_{1}\)

\(k_{i}\) :

Spring force pulling the rotational tooth.

\(k_{n}\) :

Additional spring force generated when the tooth rotates

References

  1. 1.

    Kaneko, K., Morisawa, M., Kajita, S., Nakaoka, S. I., Sakaguchi, T., Cisneros, R., & Kanehiro, F. (2015). Humanoid robot HRP-2Kai—Improvement of HRP-2 towards disaster response tasks. In 2015 IEEE-RAS 15th international conference on humanoid robots (Humanoids). IEEE (pp. 132–139).

  2. 2.

    Rouleau, M. T. (2015). Design and evaluation of an underactuated robotic gripper for manipulation associated with disaster response. PhD Thesis. Virginia Tech.

  3. 3.

    Deng, H., et al. (2017). Adaptive inverse control for gripper rotating system in heavy-duty manipulators with unknown dead zones. IEEE Transactions on Industrial Electronics, 64(10), 7952–7961.

    Article  Google Scholar 

  4. 4.

    Carnegie, J., & Deka, D. (2010). Using hypothetical disaster scenarios to predict evacuation behavioral response.

  5. 5.

    Hasegawa, R. (2013). Disaster evacuation from Japan's 2011 Tsunami disaster and the Fukushima Nuclear Accident. Studies.

  6. 6.

    Yi, W., & Özdamar, L. (2007). A dynamic logistics coordination model for evacuation and support in disaster response activities. European Journal of Operational Research, 179(3), 1177–1193.

    MathSciNet  Article  Google Scholar 

  7. 7.

    https://rescue.lukas.com/strong_arm.html

  8. 8.

    Sadun, A. S., Jalani, J., & Jamil, F. (2016). Grasping analysis for a 3-finger adaptive robot gripper. In 2016 2nd IEEE international symposium on robotics and manufacturing automation (ROMA). IEEE (pp. 1–6).

  9. 9.

    https://tameson.com/pneumatics/cylinder/gripper/parallel

  10. 10.

    Yanada, H., Ito, Y., & Fujimoto, Y. (2017). Durability of a water hydraulic cylinder.

  11. 11.

    Anjum, N. A., Shah, M., Mehmood, S., Anwar, W., Anjum, S., & Khalil, M. S. (2017). Design, fabrication and manufacturing of 100 ton hydraulic press to perform equal channel angular pressing (ECAP). Technical Journal, University of Engineering and Technology (UET) Taxila, Pakistan, 22, 73.

    Google Scholar 

  12. 12.

    Charoensuk, T., Tamman, A., Jantaratana, P., Abbasi, S., & Sirisathitkul, C. (2019). One step pressing-annealing to produce LTP MnBi magnets. Journal of Metals, Materials and Minerals, 29(2).

    Google Scholar 

  13. 13.

    https://kr.omega.com/prodinfo/grippers.html

  14. 14.

    Monkman, G. J., Hesse, S., Steinmann, R., & Schunk, H. (2007). Robot grippers (p. 56). Wiley.

    Google Scholar 

  15. 15.

    Aparisi I Escriva, A. (2016). Design of a smart gripper for industrial applications. (pp. 15–16).

  16. 16.

    https://www.festo.com/net/SupportPortal/Files/26915/info_139_en.pdf (p. 4).

  17. 17.

    Nguyen, D.-C., Phan, T.-V., & Pham, H.-T. (2018). Design and analysis of a compliant gripper integrated with constant-force and static balanced mechanism for micro manipulation. In 2018 4th international conference on green technology and sustainable development (GTSD). IEEE (pp. 291–295).

  18. 18.

    Jackson, N., et al. (2019). Development of fast prototyping pneumatic actuated grippers. International Journal of Precision Engineering and Manufacturing, 20(12), 2183–2192.

    Article  Google Scholar 

  19. 19.

    Choi, H.-S., et al. (2009). Study on a ultra-light dual revolute manipulator with high joint torque. International Journal of Precision Engineering and Manufacturing, 10(4), 49–56.

    Article  Google Scholar 

  20. 20.

    Pei, M., Xu, K., Ding, X., Jiang, S., & Gao, X. (2018). Design and analysis of continuous rotating multifunctional mechanical gripper. In 2018 IEEE international conference on robotics and biomimetics (ROBIO). IEEE (pp. 2007–2012).

  21. 21.

    Kilikevičius, A., & Kasparaitis, A. (2017). Dynamic research of multi-body mechanical systems of angle measurement. International Journal of Precision Engineering and Manufacturing, 18(8), 1065–1073.

    Article  Google Scholar 

Download references

Acknowledgements

This paper was supported by Korea Institute for Advancement of Technology (KIAT) grant funded by the Korea Government (MOTIE) (P0012744, The Competency Development Program for Industry Specialist)

Author information

Affiliations

Authors

Corresponding author

Correspondence to Chang Soo Han.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Lee, S.C., Moon, H.G., Hwang, S.H. et al. Development of an Assembled Gripper for a Hydraulic Cutting Machine with a Novel Design for the Stable Holding of Various Shaped Objects. Int. J. Precis. Eng. Manuf. 22, 1413–1424 (2021). https://doi.org/10.1007/s12541-021-00472-7

Download citation

Keywords

  • Hydraulic
  • Hydraulic gripper
  • Grasp
  • 4-Bar mechanism
  • MFBD