Gripper with Precisely Adjustable Gripping Force

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F17%3A10237721" target="_blank" >RIV/61989100:27230/17:10237721 - isvavai.cz</a>

Výsledek na webu

<a href="http://ieeexplore.ieee.org/document/7970462/" target="_blank" >http://ieeexplore.ieee.org/document/7970462/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/CarpathianCC.2017.7970462" target="_blank" >10.1109/CarpathianCC.2017.7970462</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Gripper with Precisely Adjustable Gripping Force

Popis výsledku v původním jazyce

The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected part of the gripping mechanism to provide feedback of the real actual gripping force and an improved control system with a graphical user interface allowing an easy but effective way of control. The article also describes necessary stress analyses and adjustments of the mechanical part with a strain gauge, some tests, and comparisons of various methods of gripping force control and calibration of the whole system. © 2017 IEEE.

Název v anglickém jazyce

Gripper with Precisely Adjustable Gripping Force

Popis výsledku anglicky

The article focuses on modifications made on an existing gripper mounted on a teleoperated manipulator arm of the military mobile robotic system TAROS. The reason of these modifications was to allow handling of objects with a large range of weight and strength, which requires fully and precisely adjustable gripping force with feedback. The implemented solution uses a strain gauge applied to a selected part of the gripping mechanism to provide feedback of the real actual gripping force and an improved control system with a graphical user interface allowing an easy but effective way of control. The article also describes necessary stress analyses and adjustments of the mechanical part with a strain gauge, some tests, and comparisons of various methods of gripping force control and calibration of the whole system. © 2017 IEEE.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

N - Vyzkumna aktivita podporovana z neverejnych zdroju

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

18th International Carpathian Control Conference, ICCC 2017

ISBN

978-1-5090-4862-5

ISSN

—

e-ISSN

neuvedeno

Počet stran výsledku

5

Strana od-do

555-559

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

New York

Místo konání akce

Sinaia

Datum konání akce

28. 5. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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