NDLI: Remotely adjustable robotic grip force for the network-based assembly automation

Content Provider	Springer Nature Link
Author	Chiou, Richard Kwon, Yongjin
Copyright Year	2010
Abstract	In the past two decades, robotic assembly has evolved into a part of fully automated, networked production systems that are monitored and controlled from a remotely located central site. Unfortunately, a robotic gripper with a force feedback capability, which can be operated reliably over the Internet under the traffic delay, has not been properly addressed. This study presents a new gripper design of which control model relates the commanded voltage set point in a client computer to the corresponding grip force measured by a server computer. A prototype was developed, and the tests were conducted. The experimental results indicated that the gripper was able to apply and maintain a correct magnitude of grip force according to the types of parts being handled. The feedback control algorithms maintain a grip force at a required level even when the network delay is present. The developed gripper has a great potential for improving the efficiency of the networked, automatic production systems where a frequent changeover is prevalent.
Starting Page	1145
Ending Page	1154
Page Count	10
File Format	PDF
ISSN	02683768
Journal	The International Journal of Advanced Manufacturing Technology
Volume Number	54
Issue Number	9-12
e-ISSN	14333015
Language	English
Publisher	Springer-Verlag
Publisher Date	2010-10-19
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Network-controllable robotic gripper Remote force feedback control Internet-based production Network delay Computer-Aided Engineering (CAD, CAE) and Design Mechanical Engineering Industrial and Production Engineering Production/Logistics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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