In-hand precise twisting and positioning by a novel dexterous robotic gripper for industrial high-speed assembly

摘要

In electronic manufacturing system, the design of the robotic hand with sufficient dexterity and configuration is important for the successful accomplishment of the assembly task. Due to the growing demand from high-mix manufacturing industry, it is difficult for the traditional robot to grasp a large number of assembly parts or tools having cylinder shapes with correct postures. In this research, a novel jaw like gripper with human-sized anthropomorphic features is designed for in-hand precise positioning and twisting online. It retains the simplicity feature of traditional industrial grippers and dexterity features of dexterous grippers. It can apply a constant gripping force on assembly parts and performs reliable twisting movement within limited time to meet the industrial requirements. Manipulating several cylindrical assembly parts by robot, as an experimental case in this paper, is studied to evaluate its performance. The effectiveness of proposed gripper design and mechanical analysis is proved by the simulation and experimental results.