The paper (a first version of this work was presented in Aug. 2014 at ASME-DETC in Buffalo, NY) describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom (dof) and includes both rigid and flexible elements. A variable-stiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific application-determined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variable-stiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described.
Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper
Manuscript received September 26, 2014; final manuscript received November 24, 2014; published online December 31, 2014. Assoc. Editor: Venkat Krovi.
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Le, L., Zoppi, M., Jilich, M., Bo, H., Zlatanov, D., and Molfino, R. (February 1, 2015). "Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper." ASME. J. Mechanisms Robotics. February 2015; 7(1): 011011. https://doi.org/10.1115/1.4029292
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