Grasping of li-ion batteries via additively manufactured soft gripper and collaborative robot

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dc.contributor.authorDilibal, Savaş
dc.contributor.authorGülnergiz, Emre Tuğberk
dc.contributor.authorPagliarani, Niccolo
dc.contributor.authorDonato, Enrico
dc.contributor.authorIori, Francesco
dc.contributor.authorSetti, Elisa
dc.contributor.authorFalotico, Egidio
dc.date.accessioned2024-06-13T20:16:05Z
dc.date.available2024-06-13T20:16:05Z
dc.date.issued2022
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022 -- Ankara -- 9-11 June 2022
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.
dc.description.sponsorshipHorizon 2020 Framework Programme, H2020: 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.institutionauthorDilibal, Savaş
dc.institutionauthorGülnergiz, Emre Tuğberk
dc.institutionauthorid0000-0003-4777-7995
dc.institutionauthorid0000-0002-7024-9923
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.titleGrasping of li-ion batteries via additively manufactured soft gripper and collaborative robot
dc.typeConference Object

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