A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect

Handle URI:
http://hdl.handle.net/10754/625844
Title:
A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect
Authors:
Shaqura, Mohammad; Shamma, Jeff S. ( 0000-0001-5638-9551 )
Abstract:
A robotic multi tool gripper design and implementation is presented in this paper. The proposed design targets applications where an actuation task is performed using a wide selection of standard hand tools. The manipulation motion is assumed to be rotational which requires a firm grip to account for external torque on the grasped tool. The setup is assumed to be a conventional workshop panel with hand tools being hanged close to each other, which constraints lateral clearance around the target, and near the wall of the panel, which constraints the depth clearance. Off the shelf grippers are mostly heavy and bulky which make them unsuitable for these requirements. Moreover, they are not optimized in terms of power consumption, simplicity and compactness. These generic grippers are mostly designed for pick and place tasks where no external torques other than those caused by the object weight affects the gripper. The design challenge involves building a gripper that is capable of operating in limited clearance space, firmly grip a variety of standard hand tools with different sizes and shapes. The proposed design is optimized for these objectives and offers a low cost and power consumption solution. The design has been validated in lab and outdoor experiments and has been deployed in real operating platform used in an international robotics competition.
KAUST Department:
Mechanical Engineering Program; Physical Sciences and Engineering (PSE) Division; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division; Electrical Engineering Program
Citation:
Shaqura M, Shamma JS (2017) A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect. 2017 IEEE International Conference on Mechatronics and Automation (ICMA). Available: http://dx.doi.org/10.1109/icma.2017.8015925.
Publisher:
IEEE
Journal:
2017 IEEE International Conference on Mechatronics and Automation (ICMA)
Issue Date:
29-Aug-2017
DOI:
10.1109/icma.2017.8015925
Type:
Conference Paper
Sponsors:
The authors would like to thank Dr. Samet Guler (Postdoctoral fellow, KAUST) and Mr. Mohammed AlGarni (PhD student, KAUST) for their valuable feedback throughout the design and implementation of the presented work.
Additional Links:
http://ieeexplore.ieee.org/document/8015925/
Appears in Collections:
Conference Papers; Physical Sciences and Engineering (PSE) Division; Electrical Engineering Program; Mechanical Engineering Program; Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

Full metadata record

DC FieldValue Language
dc.contributor.authorShaqura, Mohammaden
dc.contributor.authorShamma, Jeff S.en
dc.date.accessioned2017-10-10T05:52:01Z-
dc.date.available2017-10-10T05:52:01Z-
dc.date.issued2017-08-29en
dc.identifier.citationShaqura M, Shamma JS (2017) A novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effect. 2017 IEEE International Conference on Mechatronics and Automation (ICMA). Available: http://dx.doi.org/10.1109/icma.2017.8015925.en
dc.identifier.doi10.1109/icma.2017.8015925en
dc.identifier.urihttp://hdl.handle.net/10754/625844-
dc.description.abstractA robotic multi tool gripper design and implementation is presented in this paper. The proposed design targets applications where an actuation task is performed using a wide selection of standard hand tools. The manipulation motion is assumed to be rotational which requires a firm grip to account for external torque on the grasped tool. The setup is assumed to be a conventional workshop panel with hand tools being hanged close to each other, which constraints lateral clearance around the target, and near the wall of the panel, which constraints the depth clearance. Off the shelf grippers are mostly heavy and bulky which make them unsuitable for these requirements. Moreover, they are not optimized in terms of power consumption, simplicity and compactness. These generic grippers are mostly designed for pick and place tasks where no external torques other than those caused by the object weight affects the gripper. The design challenge involves building a gripper that is capable of operating in limited clearance space, firmly grip a variety of standard hand tools with different sizes and shapes. The proposed design is optimized for these objectives and offers a low cost and power consumption solution. The design has been validated in lab and outdoor experiments and has been deployed in real operating platform used in an international robotics competition.en
dc.description.sponsorshipThe authors would like to thank Dr. Samet Guler (Postdoctoral fellow, KAUST) and Mr. Mohammed AlGarni (PhD student, KAUST) for their valuable feedback throughout the design and implementation of the presented work.en
dc.publisherIEEEen
dc.relation.urlhttp://ieeexplore.ieee.org/document/8015925/en
dc.rights(c) 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en
dc.subjectRobotic gripperen
dc.subjectAutonomous manipulationen
dc.subjectSelf adjusting mechanismen
dc.subjectAdaptive designen
dc.titleA novel gripper design for multi hand tools grasping under tight clearance constraints and external torque effecten
dc.typeConference Paperen
dc.contributor.departmentMechanical Engineering Programen
dc.contributor.departmentPhysical Sciences and Engineering (PSE) Divisionen
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Divisionen
dc.contributor.departmentElectrical Engineering Programen
dc.identifier.journal2017 IEEE International Conference on Mechatronics and Automation (ICMA)en
dc.eprint.versionPost-printen
kaust.authorShaqura, Mohammaden
kaust.authorShamma, Jeff S.en
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