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Remotely adjustable robotic grip force for the network-based assembly automation

Remotely adjustable robotic grip force for the network-based assembly automation,10.1007/s00170-010-2979-6,International Journal of Advanced Manufactu

Remotely adjustable robotic grip force for the network-based assembly automation   (Citations: 1)
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In the past two decades, robotic assembly has evolved into a part of fully automated, networked production systems that are monitored and controlled from a remotely located central site. Unfortunately, a robotic gripper with a force feedback capability, which can be operated reliably over the Internet under the traffic delay, has not been properly addressed. This study presents a new gripper design of which control model relates the commanded voltage set point in a client computer to the corresponding grip force measured by a server computer. A prototype was developed, and the tests were conducted. The experimental results indicated that the gripper was able to apply and maintain a correct magnitude of grip force according to the types of parts being handled. The feedback control algorithms maintain a grip force at a required level even when the network delay is present. The developed gripper has a great potential for improving the efficiency of the networked, automatic production systems where a frequent changeover is prevalent.
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