| A Robotic End-Effector for Screwing and Unscrewing Bolts From the Side | |
Tao, Rui1,2; Fan, Junfeng1,2 ; Jing, Fengshui1,2; Jun, Hou1,2; Xing, Shiyu1,2; Ma, Yunkai1,2; Tan, Min1,2
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| Source Publication | IEEE ROBOTICS AND AUTOMATION LETTERS
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| ISSN | 2377-3766 |
| 2022-10-01 | |
| Volume | 7Issue:4Pages:9793-9800 |
| Corresponding Author | Jing, Fengshui(fengshui.jing@ia.ac.cn) |
| Abstract | This letter presents a novel robotic end-effector for screwing and unscrewing bolts. In many industrial scenarios, it is required to manipulate bolts from the side using robots with end-effectors. Besides, the reaction torque during tightening needs to be balanced to the stability of the robot. To address these challenges, we design a robotic end-effector that can realize side screwing and torque counteraction. Specifically, through an open gear set and a width-adjustable screwing mouth, the end-effector can approach the bolt from the side in any direction and then screw and unscrew it. A gripper with force-magnification and self-locking drive is equipped to counteract the reaction torque during screwing and unscrewing. Considering the extensions for different application scenarios, a method to extend the end-effector by switching screwing mouths is given, and the extended end-effector is able to screw a variety of objects. After further analysis and optimization of the force and size, experiments are carried out. The results show that the end-effector can screw and unscrew the target bolt robustly and counteract the reaction torque. It is also applicable in different scenarios. |
| Keyword | Fasteners End effectors Robots Torque Mouth Gears Grippers Screwing and unscrewing grippers and other end-effectors mechanism design assembly |
| DOI | 10.1109/LRA.2022.3192773 |
| WOS Keyword | GRIPPER |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Key Research and Development Program of China[2019YFB1312703] ; National Natural Science Foundation of China[62173327] ; National Natural Science Foundation of China[62003341] ; Youth Innovation Promotion Association of CAS[2022130] |
| Funding Organization | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association of CAS |
| WOS Research Area | Robotics |
| WOS Subject | Robotics |
| WOS ID | WOS:000833811000002 |
| Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/49819 |
| Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
| Corresponding Author | Jing, Fengshui |
| Affiliation | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
| First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Corresponding Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation GB/T 7714 | Tao, Rui,Fan, Junfeng,Jing, Fengshui,et al. A Robotic End-Effector for Screwing and Unscrewing Bolts From the Side[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2022,7(4):9793-9800. |
| APA | Tao, Rui.,Fan, Junfeng.,Jing, Fengshui.,Jun, Hou.,Xing, Shiyu.,...&Tan, Min.(2022).A Robotic End-Effector for Screwing and Unscrewing Bolts From the Side.IEEE ROBOTICS AND AUTOMATION LETTERS,7(4),9793-9800. |
| MLA | Tao, Rui,et al."A Robotic End-Effector for Screwing and Unscrewing Bolts From the Side".IEEE ROBOTICS AND AUTOMATION LETTERS 7.4(2022):9793-9800. |
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