Journal article
Remotely adjustable robotic grip force for the network-based assembly automation
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, v 54(9-12), pp 1145-1154
01 Jun 2011
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
In the past two decades, robotic assembly has evolved into a part of fully automated, networked production systems that are monitored and controlled from a remotely located central site. Unfortunately, a robotic gripper with a force feedback capability, which can be operated reliably over the Internet under the traffic delay, has not been properly addressed. This study presents a new gripper design of which control model relates the commanded voltage set point in a client computer to the corresponding grip force measured by a server computer. A prototype was developed, and the tests were conducted. The experimental results indicated that the gripper was able to apply and maintain a correct magnitude of grip force according to the types of parts being handled. The feedback control algorithms maintain a grip force at a required level even when the network delay is present. The developed gripper has a great potential for improving the efficiency of the networked, automatic production systems where a frequent changeover is prevalent.
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Details
- Title
- Remotely adjustable robotic grip force for the network-based assembly automation
- Creators
- Richard Chiou - Drexel UniversityYongjin Kwon - Ajou University
- Publication Details
- INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, v 54(9-12), pp 1145-1154
- Publisher
- Springer Nature
- Number of pages
- 10
- Grant note
- 00035088 / Korea Association of Small Business Innovation Research (KASBIR) 2010-0012517 / Ministry of Education, Science and Technology; Ministry of Education, Science and Technology, Republic of Korea Yamaha Robotics Company DUE-0618665 / US National Science Foundation; National Science Foundation (NSF) P116B060122 / US Department of Education
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Engineering Technology
- Web of Science ID
- WOS:000290573000027
- Scopus ID
- 2-s2.0-79958863039
- Other Identifier
- 991019167977104721
UN Sustainable Development Goals (SDGs)
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- Collaboration types
- Domestic collaboration
- International collaboration
- Web of Science research areas
- Automation & Control Systems
- Engineering, Manufacturing