Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot
Küçük Resim Yok
Tarih
2022
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
The demand for Li-ion batteries is growing due to the increasing use of electrical devices. Thus, increasing the automation of their assembly lines is crucial to improve their production. In this work, a pneumatic soft gripper is additively manufactured and integrated in a collaborative robot to accomplish Li-ion batteries grasping and releasing. Due to the material properties, such gripper provides safe interaction and intrinsic adaptability. However, modelling and control of soft grippers are challenging. We opt for a computational FEM model to generate a detailed representation of the interaction, and a proximity sensor is embedded in one of the two soft fingers to close the control loop and detect contacts. Contact forces have been experimentally evaluated, and control parameters have been empirically defined. © 2022 IEEE.
Açıklama
4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022 -- 9 June 2022 through 11 June 2022 -- -- 180434
Anahtar Kelimeler
FEM model, Grasping, Li-ion batteries, Proximity sensor, Soft Gripper, Additives, Collaborative robots, Finite element method, Ions, Lithium-ion batteries, Proximity sensors, Assembly line, Collaborative robots, Contact forces, Control loop, Electrical devices, FEM models, Grasping, Modelling and controls, Soft gripper, Soft-finger, Grippers
Kaynak
HORA 2022 - 4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings
WoS Q Değeri
Scopus Q Değeri
N/A