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- Publisher Website: 10.1109/ICRA.2012.6225157
- Scopus: eid_2-s2.0-84864469878
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Conference Paper: Design of parts handling and gear assembling device
Title | Design of parts handling and gear assembling device |
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Authors | |
Issue Date | 2012 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2012, p. 2570-2577 How to Cite? |
Abstract | Many one-degree-of-freedom (1-DOF) grippers have been used in factories. This paper focuses on the design of the 1-DOF parts handling device for picking up small objects robustly and agilely and realizing assembly tasks. In our conventional research, we proposed a concept for the handling device, which cages an object without letting the object escape from its tips before closing them completely and then grasps the object robustly at a unique position of the tips. In this paper, we propose a method for designing the shape of the device's tips by considering not only the caging and self-alignment of the object but also the gear assembly task. We also develop the robust and agile pick-up device (RAPiD) with tips designed by the new method and present experimental results that illustrate the ability of RAPiD to handle and assemble gears. © 2012 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/303006 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Yamaguchi, Kengo | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kaisumi, Aya | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:43:01Z | - |
dc.date.available | 2021-09-07T08:43:01Z | - |
dc.date.issued | 2012 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2012, p. 2570-2577 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/303006 | - |
dc.description.abstract | Many one-degree-of-freedom (1-DOF) grippers have been used in factories. This paper focuses on the design of the 1-DOF parts handling device for picking up small objects robustly and agilely and realizing assembly tasks. In our conventional research, we proposed a concept for the handling device, which cages an object without letting the object escape from its tips before closing them completely and then grasps the object robustly at a unique position of the tips. In this paper, we propose a method for designing the shape of the device's tips by considering not only the caging and self-alignment of the object but also the gear assembly task. We also develop the robust and agile pick-up device (RAPiD) with tips designed by the new method and present experimental results that illustrate the ability of RAPiD to handle and assemble gears. © 2012 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Design of parts handling and gear assembling device | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ICRA.2012.6225157 | - |
dc.identifier.scopus | eid_2-s2.0-84864469878 | - |
dc.identifier.spage | 2570 | - |
dc.identifier.epage | 2577 | - |