Abstract
Even for modern robot attached gripping solutions, surface-sensitive object handling remains a challenge. A minimal gripping force is required to grip and handle a surface-sensitive object safely. At the same time, this gripping force should not exceed a certain level to avoid damaging the sensitive surface of the object. Because of this, it is necessary to determine the mostly small range of optimal gripping forces to ensure a safe handling. Therefore, this paper describes an approach to evaluate this range of gripping forces for surface-sensitive objects using by means of chocolate covered marshmallows. For this purpose, a test bench with the same characteristics as a planned gripper is developed. Throughout the project, this planned gripper will be controlled with the help of the detected range of gripping forces. In addition to these static measurements, it is planned, that the gripper will calculate the handling speeds, accomplished by a six-axis industrial robot, with its acceleration forces. The achieved results of this paper will be the starting point for the upcoming measurements with the robot. Furthermore, the influence of the temperature on the range of gripping forces was evaluated, to show the relevance of consistent environmental conditions for the handling of surface-sensitive objects.
Chapter PDF
Similar content being viewed by others
Keywords
References
Banerji, A.: Development of a Force Sensitive Robotic Gripper. In: Proceedings of Conference on Advances in Robotics - AIR ‘13. Conference, Pune, India, 04.07.2013 - 06.07.2013, pp. 1–4. ACM Press, New York, New York, USA (2013). https://doi.org/10.1145/2506095.2506096
Morita, N., Nogami, H., Higurashi, E., Sawada, R.: Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter. Sensors (Basel, Switzerland) (2018). https://doi.org/10.3390/s18020326
3. Bi, Z., Liu, Y., Krider, J., Buckland, J., Whiteman, A., Beachy, D., Smith, J.: Real-time force monitoring of smart grippers for Internet of Things (IoT) applications. Journal of Industrial Information Integration (2018). https://doi.org/10.1016/j.jii.2018.02.004
Spies, S., Kuhlenkötter, B.: Adaptive Online-Anpassung der Roboterbahn zur Reduzierung der am Effektor wirkenden Greifkräfte. Adaptive online adaption of the robot path to reduce the dynamic forces acting at the effector. In: Automation 2018, 03-04.07., pp. 123–133. VDI Verlag GmbH, Düsseldorf (2018)
Spies, S., Portela, M.A.V., Bartelt, M., Hypki, A., Ebert, B., Ramirez, R.E., Kuhlenkötter, B.: Force-controlled Solution for Non-destructive Handling of Sensitive Objects. In: Schüppstuhl, T., Tracht, K., Franke, J. (eds.) Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter, pp. 57–64. Springer Berlin Heidelberg, Berlin, Heidelberg (2018). https://doi.org/10.1007/978-3-662-56714-2_7
Spies, S., Lenkenhoff, K., Kuhlenkötter, B.: Cyber-Physisches System zur Handhabung sensibler Objekte unter Berücksichtigung der Objekteigenschaften und dessen Verhalten. A Cyber-Physical System for Handling of sensitive Objects with regard to the Objects Parameters and Behavior. In: VDI Verlag GmbH (ed.) Automation 2017 (2017)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Open Access This chapter is licensed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.
The images or other third party material in this chapter are included in the chapter's Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the chapter's Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder.
Copyright information
© 2020 The Author(s)
About this paper
Cite this paper
Krampe, M., Miro, M., Portela, M.A.V., Kuhlenkötter, B. (2020). Determination of Gripping Forces for Handling Surface-sensitive Objects. In: Schüppstuhl, T., Tracht, K., Henrich, D. (eds) Annals of Scientific Society for Assembly, Handling and Industrial Robotics. Springer Vieweg, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-61755-7_23
Download citation
DOI: https://doi.org/10.1007/978-3-662-61755-7_23
Published:
Publisher Name: Springer Vieweg, Berlin, Heidelberg
Print ISBN: 978-3-662-61754-0
Online ISBN: 978-3-662-61755-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)