The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without the need to grasp them, the ability to reposition grasped objects in-hand, the capability of performing classic dual arm manipulation within the gripper and the utilization of classic industrial robotic arms kinematics within a robotic gripper. We analyze state of the art grippers and robotic hands designed for dexterous in-hand manipulation and extract common characteristics and weak points. The presented concept is obtained from the task requirements for disassembly of electromechanical devices and it is then evaluated for general purpose grasping, in-hand manipulation and operations with tools. We further present the CAD design for a first prototype.Peer ReviewedPostprint (author's final draft

Grasp Point Optimization and Leakage-Compliant Dimensioning of Energy-Efficient Vacuum-Based Gripping Systems

Vacuum-based handling, used in many applications and industries, offers great flexibility and fast handling processes. However, due to significant energy conversion losses from electrical energy to the useable suction flow, vacuum-based handling is highly energy-inefficient. In preliminary work, we showed that our grasp optimization method offers the potential to save at least 50% of energy by a targeted placement of individual suction cups on the part to be handled. By considering the leakage between gripper and object, this paper aims to extend the grasp optimization method by predicting the effective compressed air consumption depending on object surface roughness, gripper diameter and gripper count. Through balancing of the target pressure difference and the leakage tolerance in combination with the gripper count and gripper diameter, significant reductions of the compressed air, use and therefore the overall energy consumption, can be achieved. With knowledge about the gripper-specific leakage behavior, in the future it will be straightforward for system integrators to minimize the need for oversizing due to process-related uncertainties and therefore to provide application-specific and energy-optimized handling solutions to their customers

A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests

Ground-Based 1U CubeSat Robotic Assembly Demonstration

Key gaps limiting in-space assembly of small satellites are (1) the lack of standardization of electromechanical CubeSat components for compatibility with commercial robotic assembly hardware, and (2) testing and modifying commercial robotic assembly hardware suitable for small satellite assembly for space operation. Working toward gap (1), the lack of standardization of CubeSat components for compatibility with commercial robotic assembly hardware, we have developed a ground-based robotic assembly of a 1U CubeSat using modular components and Commercial-Off-The-Shelf (COTS) robot arms without humans-in-the-loop. Two 16 in x 7 in x 7 in dexterous robot arms, weighing 2 kg each, are shown to work together to grasp and assemble CubeSat components into a 1U CubeSat. Addressing gap (2) in this work, solutions for adapting power-efficient COTS robot arms to assemble highly-capable CubeSats are examined. Lessons learned on thermal and power considerations for overheated motors and positioning errors were also encountered and resolved. We find that COTS robot arms with sustained throughput and processing efficiency have the potential to be cost-effective for future space missions. The two robot arms assembled a 1U CubeSat prototype in less than eight minutes

A survey of single and multi-UAV aerial manipulation

Aerial manipulation has direct application prospects in environment, construction, forestry, agriculture, search, and rescue. It can be used to pick and place objects and hence can be used for transportation of goods. Aerial manipulation can be used to perform operations in environments inaccessible or unsafe for human workers. This paper is a survey of recent research in aerial manipulation. The aerial manipulation research has diverse aspects, which include the designing of aerial manipulation platforms, manipulators, grippers, the control of aerial platform and manipulators, the interaction of aerial manipulator with the environment, through forces and torque. In particular, the review paper presents the survey of the airborne platforms that can be used for aerial manipulation including the new aerial platforms with aerial manipulation capability. We also classified the aerial grippers and aerial manipulators based on their designs and characteristics. The recent contributions regarding the control of the aerial manipulator platform is also discussed. The environment interaction of aerial manipulators is also surveyed which includes, different strategies used for end-effectors interaction with the environment, application of force, application of torque and visual servoing. A recent and growing interest of researchers about the multi-UAV collaborative aerial manipulation was also noticed and hence different strategies for collaborative aerial manipulation are also surveyed, discussed and critically analyzed. Some key challenges regarding outdoor aerial manipulation and energy constraints in aerial manipulation are also discussed

Vision Experts: “Capturing the Holy Grail” Business Plan

This project investigates the potential viability of commercializing robotics software developed by a UBC engineer. The aim of this project is to provide the inventor with a business plan that will act as a tool to help in obtaining funding for the commercialization of this software. Through research and work, it has been concluded that the possibility does exist to use this software as the basis for a successful company. To that end, a business plan is presented with the goal of helping the developer achieve her goals

Proposal of a Material Handling System Design Methodology – An Industrial Application on A Packaging and Depalletizing System

In modern competitive environment, cost reduction across various production functions is im- perative. Material handling is no exception, as achieving a well-designed MHS (Material Han- dling System) is key for lowering operational costs and improving the work environment. Companies offering services such as the design of MHSs often find themselves devel- oping MHS design concepts to present to their customers before proceeding with the remain- ing systems' development. Although there are currently several approaches to the design of MHSs, most of these approaches are tailored to design and develop these systems to comple- tion. The present dissertation proposes a MHS design methodology suitable for designing MHSs both up to a concept stage and a detailed stage (complete design). The proposed meth- odology mainly differs from conventional approaches by identifying, prioritizing, and evaluat- ing key system metrics before proceeding with the equipment selection and validation pro- cesses. Doing so increases the likelihood of detecting unforeseen problems or opportunities for improvement sooner in the design process. In addition, if performed, these steps allow the companies mentioned above to achieve and propose design concepts truer to the eventual complete systems. This dissertation was performed within the scope of an internship at Metal-Conser, a company that designs and manufactures material handling systems. To evaluate the proposed MHS design methodology, the last was applied to a packag- ing and depalletizing system and compared to a design concept of the same system proposed by Metal-Conser. Additionally, during the methodology application, simulation software was used both to simulate the system's pick and place operations and to model and simulate the system's operations. Both of these applications had the intent to validate the use of these tools in future operations at Metal-Conser.No ambiente competitivo moderno, a redução de custos em várias funções associadas com produção é imperativa. A manipulação de materiais não é exceção, visto que projetar correta- mente um sistema de manipulação de materiais é fundamental para reduzir custos operacio- nais e melhorar a logística operacional. Empresas que oferecem serviços como o projeto de sistemas de manipulação regular- mente desenvolvem conceitos de projeto para apresentar aos seus clientes antes de prosseguir com o restante desenvolvimento do projeto. Embora existam atualmente várias abordagens para o projeto deste tipo de sistemas, a maioria destas abordagens é adaptada para os projetar e desenvolver até ao fim. A presente dissertação propõe uma metodologia de projeto de sistemas de manipula- ção de materiais adequada para projetar estes sistemas tanto na fase de conceito de projeto como na fase de projeto de definição de pormenor (projeto completo). A metodologia pro- posta difere das abordagens convencionais principalmente por identificar, priorizar e avaliar os principais parâmetros do sistema antes de prosseguir com o processo de seleção e valida- ção de equipamento. A aplicação dos passos propostos, aumenta a probabilidade de detetar problemas imprevistos ou oportunidades de melhoria mais cedo, durante o desenvolvimento do projeto. Como consequência direta da aplicação destes passos as empresas previamente mencionadas, podem alcançar e propor conceitos de projeto mais fiéis aos eventuais sistemas completos. Esta dissertação foi realizada no âmbito de um estágio na Metal-Conser, uma empresa que projeta e fabrica sistemas de manipulação de materiais. Para avaliar a metodologia de projeto proposta, esta foi aplicada a um sistema de em- balamento e despaletização, sendo depois comparada a um conceito de projeto proposto pela Metal-Conser, para o mesmo sistema. Adicionalmente, durante a aplicação da metodologia, recorreu-se ao uso de software de simulação, tanto para simular operações de pick and place, como para modelar e simular as operações do sistema projetado. Ambos os casos tinham como objetivo validar o uso destessoftwares em futuras operações na Metal-Conse