Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot

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dc.authorscopusid6506581868
dc.authorscopusid57796527500
dc.authorscopusid57405540700
dc.authorscopusid57344824000
dc.authorscopusid57796616100
dc.authorscopusid57470805400
dc.authorscopusid35785672300
dc.contributor.authorDilibal, S.
dc.contributor.authorGulnergiz, E.T.
dc.contributor.authorPagliarani, N.
dc.contributor.authorDonato, E.
dc.contributor.authorIori, F.
dc.contributor.authorSetti, E.
dc.contributor.authorFalotico, E.
dc.date.accessioned2024-06-13T20:16:05Z
dc.date.available2024-06-13T20:16:05Z
dc.date.issued2022
dc.departmentİstanbul Gedik Üniversitesi
dc.description4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022 -- 9 June 2022 through 11 June 2022 -- -- 180434
dc.description.abstractThe 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.
dc.description.sponsorshipHorizon 2020 Framework Programme, H2020: 863212
dc.description.sponsorshipAuthors thanks to Fanuc Turkey for their support in the experimental stage. This work was supported by the European Union’s Horizon 2020 Research and Innovation Programme through PROBOSCIS Project under Grant 863212.
dc.identifier.doi10.1109/HORA55278.2022.9799902
dc.identifier.isbn9781665468350
dc.identifier.scopus2-s2.0-85133979648
dc.identifier.scopusqualityN/A
dc.identifier.urihttps://doi.org/10.1109/HORA55278.2022.9799902
dc.identifier.urihttps://hdl.handle.net/11501/1016
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartofHORA 2022 - 4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectFEM model
dc.subjectGrasping
dc.subjectLi-ion batteries
dc.subjectProximity sensor
dc.subjectSoft Gripper
dc.subjectAdditives
dc.subjectCollaborative robots
dc.subjectFinite element method
dc.subjectIons
dc.subjectLithium-ion batteries
dc.subjectProximity sensors
dc.subjectAssembly line
dc.subjectCollaborative robots
dc.subjectContact forces
dc.subjectControl loop
dc.subjectElectrical devices
dc.subjectFEM models
dc.subjectGrasping
dc.subjectModelling and controls
dc.subjectSoft gripper
dc.subjectSoft-finger
dc.subjectGrippers
dc.titleGrasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot
dc.typeConference Object

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