Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit
This paper presents a versatile method to install a small machining robot onto a planar or slightly curved object. Normally, gripping tools provide a rigid connection between a robot and a target. However, if there is no graspable area on the target, the gripper cannot perform well. To overcome this...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/493267 |
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| _version_ | 1832562080744472576 |
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| author | Akira Bekku Yoshikazu Nakajima |
| author_facet | Akira Bekku Yoshikazu Nakajima |
| author_sort | Akira Bekku |
| collection | DOAJ |
| description | This paper presents a versatile method to install a small machining robot onto a planar or slightly curved object. Normally, gripping tools provide a rigid connection between a robot and a target. However, if there is no graspable area on the target, the gripper cannot perform well. To overcome this problem, we proposed a deformable device that works as a universal suction pad and that can hold an ungraspable target by utilizing the jamming transition phenomenon. We determined the effect of the type of grains on the jamming transition phenomenon in terms of stability under jammed conditions. By comparing the four types of grains, we found that the tetrahedral-shaped grains performed the best. Subsequently, we evaluated the performance of the device. The suction force was 166-N when the proposed device was affixed to a curved target. Next, we evaluated the stiffness of the device. The average deformations of the device were 0.10 mm, 0.35 mm, and 0.04 mm, respectively, when 50-N downward vertical, horizontal, and upward vertical directional loads were applied to the device, which was affixed to the curved target. The results suggest that the proposed device performed well in affixing a robot onto a target. |
| format | Article |
| id | doaj-art-daaae42aca2345f4a328a70958e57989 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-daaae42aca2345f4a328a70958e579892025-02-03T01:23:28ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/493267493267Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction UnitAkira Bekku0Yoshikazu Nakajima1Department of Bioengineering, School of Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo, Tokyo 113-8656, JapanDepartment of Bioengineering, School of Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo, Tokyo 113-8656, JapanThis paper presents a versatile method to install a small machining robot onto a planar or slightly curved object. Normally, gripping tools provide a rigid connection between a robot and a target. However, if there is no graspable area on the target, the gripper cannot perform well. To overcome this problem, we proposed a deformable device that works as a universal suction pad and that can hold an ungraspable target by utilizing the jamming transition phenomenon. We determined the effect of the type of grains on the jamming transition phenomenon in terms of stability under jammed conditions. By comparing the four types of grains, we found that the tetrahedral-shaped grains performed the best. Subsequently, we evaluated the performance of the device. The suction force was 166-N when the proposed device was affixed to a curved target. Next, we evaluated the stiffness of the device. The average deformations of the device were 0.10 mm, 0.35 mm, and 0.04 mm, respectively, when 50-N downward vertical, horizontal, and upward vertical directional loads were applied to the device, which was affixed to the curved target. The results suggest that the proposed device performed well in affixing a robot onto a target.http://dx.doi.org/10.1155/2015/493267 |
| spellingShingle | Akira Bekku Yoshikazu Nakajima Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit Journal of Robotics |
| title | Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit |
| title_full | Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit |
| title_fullStr | Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit |
| title_full_unstemmed | Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit |
| title_short | Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit |
| title_sort | fixing device for a planar object by incorporating jamming transition phenomenon and a suction unit |
| url | http://dx.doi.org/10.1155/2015/493267 |
| work_keys_str_mv | AT akirabekku fixingdeviceforaplanarobjectbyincorporatingjammingtransitionphenomenonandasuctionunit AT yoshikazunakajima fixingdeviceforaplanarobjectbyincorporatingjammingtransitionphenomenonandasuctionunit |