The week's pick
Reseach Article
A Pick and Place Robot: A Flexible Robot with Adjustable Rubber Hand
| International Journal of Computer Applications |
| Foundation of Computer Science (FCS), NY, USA |
| Volume 128 - Number 8 |
| Year of Publication: 2015 |
| Authors: Ashlesha D. Kulkarni, K. Sujatha, N.A. Shinde |
10.5120/ijca2015906618
|
Ashlesha D. Kulkarni, K. Sujatha, N.A. Shinde . A Pick and Place Robot: A Flexible Robot with Adjustable Rubber Hand. International Journal of Computer Applications. 128, 8 ( October 2015), 16-19. DOI=10.5120/ijca2015906618
Abstract
In this paper, we are going to proposed design of an intelligent robot having adjustable rubber hand to perform pick and place task. The proposed robot can pick any random shape of object with its flexible rubber hand this flexible hand is self adjusted according to the shape of the object. For that purpose we provide the pressure switches on the robots hand to judge the pressure required to pick the particular object. The proposed robot is wireless and for proper wireless communication we used zig bee. We can control all the movements of robot such that left movement, right movement, forward and backward movement, up down movement, pick the object and place that object at required place with the help of personal computer. We can successfully control the force and pressure required for picking the object through pressure switches. Due to use of adjustable rubber hand with spunj the friction between the object and hand of the robot is increased with great extent so we can achieve successful grip. We performed many experiments on the objects like bottle, ball, soft toys, talcum powder container, conical objects, oil container and many more similar objects. These sets of experiments were performed with an average success rate of 95% in pick-and-place tasks In short in this paper we will proposed how the embedded system is created for making a small mechatronics system used for pick and place task. In future we implement this type of system in nuclear industries where hazardous nuclear rays can affect the human health severely .So we can replace the human workers by such system.[1][5]
References
- S. L. Yuen, J. F. Jin, and N. L. Doh, “A system framework for evalu- ating minimal robot in cartesian grasping system,” in Proc. Int. Conf. Electron., Inf., Commun., 2010, pp. 222–225.
- Y. H. Lee, J. F. Jin, C. Nam, J. Kim, and N. L. Doh, “Development of minimal robot: Preliminary result of a simple and flexible envelop- ing robot,” in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2009, pp. 1779–1784.
- L. Birglen, T. Laliberté, and C. Gosselin, “Grasping vs manipulating,”Adv. Robot., vol. 40, pp. 7–31, 2008.
- W. Gruver, “Intelligent robotics in manufacturing, service, and rehabilita- tion: An overview,” IEEE Trans. Ind. Electron., vol. 41, no. 1, pp. 4–11, Feb. 2008.
- J. Salisbury and J. Craig, “Articulated hands: Force control and kinematic issues,” Int. J. Robot. Res., vol. 1, no. 1, pp. 4–17, 2008.
- S. Jacobsen, E. Iversen, R. Johnson, and K. Biggers, “Design of the Utah/MIT dextrous hand,” in Proc. IEEE Int. Conf. Robot. Autom., 2007, pp. 1520–1532.
- Barrett Hand. [Online]. Available: http://barrett.com/robot/index.htm
- F. Lotti, P. Tiezzi, G. Vassura, L. Biagiotti, G. Palli, and C. Melchiorri, “Development of UB hand 3: Early results,” in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 4488–4493.
- J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger, “DLR-hand II: Next generation of a dextrous robot hand,” in Proc. IEEE Int. Conf. Robot. Autom., 2005, pp. 109–114.
- H. Kawasaki, T. Komatsu, and K. Uchiyama, “Dexterous anthropomor- phic robot hand with distributed tactile sensor: Gifu hand II,” IEEE/ASME Trans. Mechatron., vol. 7, no. 3, pp. 296–303, Sep. 2005.
- M. Dollar and R. D. Howe, “Simple, robust autonomous grasping in unstructured environments,” in Proc. IEEE Int. Conf. Robot. Autom.,2004, pp. 4693–47
- R. O. Ambrose, H. Aldridge, R. S. Askew, R. R. Burridge, W. Bluethmann, M. Diftler, C. Lovchik, D. Magruder, and F. Rehnmark, “Robonaut: NASA’s space humanoid,” IEEE Intell. Syst. Appl., vol. 15, no. 4, pp. 57–63, Jul./Aug. 2004.
- M. C. Carrozza, C. Suppo, F. Sebastiani, B. Massa, F. Vecchi, R. Lazzarini, M. R. Cutkosky, and P. Dario, “The spring hand: Develop- ment of a self-adaptive prosthesis for restoring natural grasping,” Auton. Robots, vol. 16, no. 2, pp. 125–141, Mar. 2004
- S. Hirose and Y. Umetani, “Soft gripper,” in Proc. Int. Symp. Exp. Robot., 2003, pp. 112.
- B. Massa, S. Roccella, M. C. Carrozza, and P. Dario, “Design and de- velopment of an underactuated prosthetic hand,” in Proc. IEEE Int. Conf. Robot. Autom., 2003, pp. 3374–3379.
Index Terms
Keywords