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 |
ISSN | 2377-3766 |
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 |
DOI | 10.1109/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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