2 research outputs found

    Integration of a computerized two-finger gripper for robot workstation safety

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    A microprocessor-based controller has been developed that continuously monitors and adjusts the gripping force applied by a special two-finger gripper. This computerized force sensing gripper system enables the endeffector gripping action to be independently detected and corrected. The gripping force applied to a manipulated object is real-time monitored for problem situations, situations which can occur during both planned and errant robot arm manipulation. When unspecified force conditions occur at the gripper, the gripping force controller initiates specific reactions to cause dynamic corrections to the continuously variable gripping action. The force controller for this intelligent gripper has been interfaced to the controller of an industrial robot. The gripper and robot controllers communicate to accomplish the successful completion of normal gripper operations as well as unexpected hazardous situations. An example of an unexpected gripping condition would be the sudden deformation of the object being manipulated by the robot. The capabilities of the interfaced gripper-robot system to apply workstation safety measures (e.g., stop the robot) when these unexpected gripping effects occur have been assessed

    Comparison of Three Equations for Predicting Stress Wave Velocity As A Function of Grain Angle

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    Assessment of a nondestructive test system for detecting defects in the gluelines of edge-glued hardwood panels required development of a mathematical relationship for predicting stress wave velocity as a function of grain angle. This relationship was necessary to understand better how stress waves propagated around gaps or flaws in a glueline. In addition, the relationship was needed to assess the influence of specimen geometry upon the effectiveness of the stress wave technique.Equations were generated by a statistical regression analysis software package and compared to Hankinson's equation. Equations were based upon measured velocity of stress waves traveling at angles between 0 and 90 degrees to the grain at 15 degree intervals in birch, black cherry, red oak, yellow-poplar, and western white pine boards. Regression analyses indicated that the best correlations were found with second order hyperbolic and parabolic equations. The two equations were compared to Hankinson's equation and to each other by using Absolute Average Error (AAE) for each equation for each species and for all species combined at each of the grain angles for which data were collected. Hankinson's equation produces the least AAE of the three equations although the hyperbolic and parabolic equations must also be considered reasonable predictors of stress wave velocity at most angles to the grain
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