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
发表期刊IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN2377-3766
2022-10-01
卷号7期号:4页码:9793-9800
通讯作者Jing, Fengshui(fengshui.jing@ia.ac.cn)
摘要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.
关键词Fasteners End effectors Robots Torque Mouth Gears Grippers Screwing and unscrewing grippers and other end-effectors mechanism design assembly
DOI10.1109/LRA.2022.3192773
关键词[WOS]GRIPPER
收录类别SCI
语种英语
资助项目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]
项目资助者National Key Research and Development Program of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association of CAS
WOS研究方向Robotics
WOS类目Robotics
WOS记录号WOS:000833811000002
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/49819
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Jing, Fengshui
作者单位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
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
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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