비정형 물체 파지를 위한 적응형 자석 기어 그리퍼 = Adaptive Gripper with Magnetic Gear for Grasping Atypical Objects

다국어 초록 (Multilingual Abstract)

This paper proposes an adaptive gripper for atypical objects. This gripper is designed to drive three fingers with one motor by applying three adaptive two-joint fingers developed in our previous research. The gripper with a single motor has the advantage of reduced weight, and the non-contact finger can be continuously driven by utilizing the characteristics of the magnetic gear when grasping an atypical object. A prototype of the adaptive gripper was manufactured with a 3-D printed body and link. It was confirmed that the adaptive grasping of the gripper worked in a limited driving torque range in the experiment. The gripper could grasp atypical objects such as tomatoes and oriental melons with torque control. Finally, it was confirmed that the performance of the gripper could be controlled by the torque control and the gap between the magnetic gear.

다국어 초록 (Multilingual Abstract)

.

참고문헌 (Reference)

1 최두순 ; 이주은 ; 황면중, "비정형 물체의 안정적인 파지를 위한 유연한 로봇 그리퍼 설계" 제어·로봇·시스템학회 26 (26): 184-190, 2020

2 이재영 ; 조성진 ; 서용신 ; 박찬훈 ; 박동일 ; 김병인 ; 김휘수 ; 송성혁, "다공성 구조를 이용한 형상적응형 가변강성 소프트 그리퍼" 제어·로봇·시스템학회 27 (27): 238-246, 2021

3 설재휘 ; 이세창 ; 손형일, "과채류 수확을 위한 로봇 엔드이펙터 리뷰" 한국로봇학회 15 (15): 91-99, 2020

4 문선영 ; 황면중, "과수 수확을 위한 적응형 소프트 그리퍼" 제어·로봇·시스템학회 28 (28): 664-670, 2022

5 변승재 ; 임예은 ; 황면중, "갈고리를 사용한 줄기 절단으로 과채에 남겨진 줄기 길이를 최소화하는 수확용 엔드이펙터" 제어·로봇·시스템학회 28 (28): 926-931, 2022

6 "https://emanual.robotis.com/docs/kr/dxl/x/xm430-w350/"

7 V. Tincani, "Velvet fingers: A dexterous gripper with active surfaces" 1257-1263, 2012

8 H. J. Jeon, "Underactuated adaptive 3-finger grippers based on magnetic gears" 1645-1646, 2021

9 B. Zhang, "State-of-theart robotic grippers, grasping and control strategies, as well as their applications in agricultural robots: A review" 177 : 105694-, 2020

10 S. Tanaka, "High-speed hitting grasping with magripper, a highly backdrivable gripper using magnetic gear and plastic deformation control" 9137-9143, 2021

11 K. S. Kim, "Design of a novel 3-DOF adaptive gripper mechanism with underactuation" 526-528, 2021

12 S. J. Byun, "Design of 2-link finger for adaptive gripper using magnetic gears" 1631-1632, 2021

13 P. V. P. Reddy, "A review on importance of universal gripper in industrial robot applications" 2 (2): 255-264, 2013