School of Mechanical Engineering Seminar
Wednesday, November 23, 2022 at 14:00
Wolfson Building of Mechanical Engineering, Room 206
ROBOTIC MANIPULATION OF THIN OBJECTS
WITHIN OFF-THE-SHELF PARALLEL GRIPPERS
WITH A VIBRATION FINGER
Noam Nahum
M.Sc student of Dr. Avishai Sintov
Robotics lab
An in-hand manipulation refers to robots' interactions with the objects they hold. It includes how the robot perceives, controls and manipulates objects. Such interactions require the planning and design of complex systems.
This topic is one of the most researched topics in the field of robotics. There are various methods for manipulating objects using multiple degrees of freedom robotic hands. However, Common parallel grippers are suffering from the lack of DOF and are limited to closing on an object without the ability for intrinsic in-hand manipulation. Nevertheless, parallel grippers are widely used due to their simplicity and low-cost while relying on extrinsic capabilities for manipulating the object.
In this work, a simple and low-cost mechanism is proposed for augmenting a parallel gripper with intrinsic in-hand manipulation abilities. A novel vibration-based finger was proposed where an off-the-shelf eccentric rotating mass motor along with a simple rotary actuator apply directional movement forces on a grasped thin object. The motion is based on the stick-slip phenomenon and exerted with no exposed moving parts. Along with the mechanism, a simple control law is proposed to manipulate the object to desired position goals and along paths. Furthermore, the ability to manipulate various objects is demonstrated. Experimental results show the ability to manipulate an object with accuracy of less than 2~mm.
The experiments demonstrate the merits of the approach granting in-hand manipulation capabilities, that previously were not possible, to any parallel gripper.
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https://tau-ac-il.zoom.us/j/4962025174?pwd=bVJUeElXRUUya3BERisyNllLOE9EZz09
