Name
Abstract | ||
|---|---|---|
This article describes a novel robotic end-effector and a method for grasping deformable objects with undefined shapes and geometry, such as sacks and bags. The first prototype end-effector, designed for applications in the U.S. Postal Service, is comprised of two parallel rollers with gripping surfaces in which the rollers are pushed towards each other. When the end-effector comes into contact with any portion of the deformable object, the rollers turn inwardly so that a graspable portion of the object is dragged between the rollers. The rollers stop rotating when a graspable portion of the material/object is caught in between, allowing the object to be maneuvered by the robot. The object is released when the rollers turn outwardly. The end-effector described in this article can grab and hold filled sacks from any point on the sack, regardless of the sack's orientation. Experimental evaluation of the end-effector has proven the design and implementation remarkably effective. This article describes the hardware, control method, and design issues associated with the end-effector. During repetitive pick-and-place maneuvers, the above factors have shown to lead to increased risk of wrist, finger, and back injuries among mail handlers. To lower the risk of injuries and to expedite mail processing, the US Postal Service (USPS) has employed various robotic devices to automate some of its mail handling activities. This paper describes an end-effector that is designed to work with these robotic systems to grab and hold sacks. To understand the end- effector requirements, several U.S. Postal Service (USPS) distribution centers were extensively studied. The following two sack handling situations were identified to benefit most from robotic assistance, and were hence thoroughly analyzed by the authors in the design of the end-effector described here: |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/TASE.2005.844630 | IEEE T. Automation Science and Engineering |
Keywords | Field | DocType |
Robots,Postal services,Shape,Computational geometry,Prototypes,Hardware,Design methodology,Packaging,Humans,Friction | Engineering drawing,GRASP,Robotic hand,Computer science,Lock (computer science),Robot end effector,Sack,Artificial intelligence,Robot,Grippers,Robotics | Journal |
Volume | Issue | ISSN |
2 | 2 | 1545-5955 |
Citations | PageRank | References |
6 | 1.03 | 8 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| H. Kazerooni | 1 | 766 | 314.26 |
| Chris Foley | 2 | 6 | 1.03 |