Portable compact suction pad unit for parallel grippers
Portable compact suction pad unit for parallel grippers
复制标题
用于平行夹具的便携式紧凑型吸盘装置
DOI：
10.1080/01691864.2019.1686421
复制
发表时间：
2020
影响因子：
2
通讯作者：
Kohei Nara
中科院分区：
文献类型：
--
作者：
J. Tanaka;D. Yamamoto;H. Ogawa;H. Ohtsu;Keisuke Kamata;Kohei Nara
本文提出了一种便携式紧凑型吸垫装置，用于移动操作机器人的平行夹持器放置产品展示物品。此外，本文还对该装置的机理进行了验证。考虑到机器人需要抓取各种物品，我们提出了一种操作方法，通过平行抓取器抓取紧凑型吸垫单元，根据放置的物品在夹紧模式和真空吸吸模式之间切换。紧凑的吸垫单元是独立的，与所有必要的设备内吸操作的单位。吸入操作通过外部主机系统控制器无线开关。紧凑的吸垫单元在允许的15°倾角下产生约5.6 N的吸力。我们在一次竞赛中展示了我们提出的紧凑型吸垫装置的操作方法是有用的，它可以将饮料放入有盖的杯子和盒装午餐中。图形抽象
This paper proposes a portable compact suction pad unit for the parallel grippers of a mobile manipulation robot to place items for product display. In addition, this paper includes verification of the unit’s mechanism. Given that robots have to hold various items, we propose an operation method by which the parallel gripper holding the compact suction pad unit switches between a pinching mode and a vacuum suction mode depending on the item being placed. The compact suction pad unit is self-contained, with all the devices necessary for the suction operation inside the unit. The suction operation is switched on and off wirelessly by an external host system controller. The compact suction pad unit produced a suction force of about 5.6 N at an allowable inclination angle of 15°. We demonstrated in a competition that our proposed operation method of the compact suction pad unit is useful by having it place a beverage in a cup with lid and a boxed lunch. GRAPHICAL ABSTRACT
影响因子：
9.2
作者：
Levine, Sergey;Pastor, Peter;Quillen, Deirdre
通讯作者：
Quillen, Deirdre