EP3302898A1 - Robotic gripper and method for operating same - Google Patents
Robotic gripper and method for operating sameInfo
- Publication number
- EP3302898A1 EP3302898A1 EP17703108.5A EP17703108A EP3302898A1 EP 3302898 A1 EP3302898 A1 EP 3302898A1 EP 17703108 A EP17703108 A EP 17703108A EP 3302898 A1 EP3302898 A1 EP 3302898A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripping surface
- robotic gripper
- gripping
- gripped
- chamber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
Definitions
- the invention relates to a robotic gripper and a method for operating such.
- gripping planning The gripping of objects with an unknown geometry by a robotic gripper is a great challenge. Complex calculations are necessary to determine an optimal gripping configuration (so-called gripping planning). This is due to the low flexibility of robotic grippers and the lack of flexibility of the gripping surfaces of the gripper.
- Granular grippers are known from the prior art which offer the possibility of gripping different types of objects without first knowing the geometric shape or the orientation of the object.
- the granular gripper on a filled granules with a granule chamber, through which the gripping surface is formed The gripping surface can thus be adapted to the geometric shape of the object to be gripped.
- the granule chamber is connected to a vacuuming device and can thereby be hardened.
- the object can be used for further processing steps, such as packing or manipulating the object.
- the object of the invention is to provide a robotic gripper by means of which the position and orientation of the gripped object can be determined after gripping.
- the robotic gripper according to the invention has a gripping surface which is formed by a deformable body which is deformable in such a way that the shape of the gripping surface changes as a result. In this way, an object can be gripped positively by the gripping surface.
- the gripper according to the invention is characterized in that the gripping surface formed by the deformable body has an elastic tactile sensor skin for detecting gripping and contact forces.
- the body and the gripping surface are at least partially passively deformable by the object to be gripped. This can be done by the gripping surface by the robot on the zu is pressed so that at least a part of the deformation of the gripping surface and the deformable body is caused by the object to be gripped. Conversely, this means that the controller of the robot has neither directly caused this deformation nor is aware of the nature of this deformation. The robot merely causes indirect deformation by pressing the gripping surface onto the object. The type of deformation is unknown to the robot.
- the deformable body is a chamber which is filled with a granulate or fluid.
- it may be a granule chamber filled with a granulate, the granules being freely movable in the granulate chamber, so that the shape of the gripping surface can be adapted to an object to be gripped.
- the granule chamber can be connected or connected to a vacuuming device and thus can be vacuumed, so that the gripping surface formed by the granulate chamber is hardenable.
- the granules Due to the vacuum created in the granule chamber by the vacuuming device, the granules are compressed. As a result, the granule chamber contracts slightly, so that the object, which is enclosed by the granule chamber, is clamped. By vacuuming the granule chamber thus the object can be gripped safely.
- the deformable chamber may be filled with a fluid and be variable in shape by an actuating device.
- the chamber has a convex gripping surface when the actuating device is not actuated, while it has a concave gripping surface when the actuating device is actuated.
- One Such designed robotic gripper is offered for example by the company Festo under the name FlexShapeGripper.
- the tactile sensor skin is preferably realized with an electrical measuring principle and changes its electrical resistance or its electrical capacitance as its curvature changes.
- it may for example be traversed by a plurality of electrically conductive wires which change their electrical resistance with a change in their curvature.
- the tactile sensor skin may be formed according to one of the following publications:
- the tactile sensor skin additionally has a temperature sensor for detecting the temperature of the gripped object.
- the tactile sensor skin itself may also be designed as a temperature sensor, so that it is not necessary to provide a separate temperature sensor.
- the tactile sensor skin may additionally comprise a conductivity sensor for detecting the electrical and / or thermal conductivity of the object being grasped. If both parameters are to be measured, two separate sensors must of course be provided here.
- the invention further relates to a method for operating a robotic gripper, in particular as has been described so far.
- the method comprises the following steps: A gripping surface formed by a deformable body, in particular a chamber, is pressed onto the object to be gripped.
- the body or the chamber is deformable such that thereby changes the shape of the gripping surface, so that in this way an object can be positively gripped by the gripping surface.
- the gripping surface is that surface over which the contact between the robotic gripper and the object to be gripped is established.
- the contact forces occurring on the gripping surface are detected during the gripping process or after the gripping process by a tactile sensor skin formed on the gripping surface. It is preferred that not only the size of the contact force but also the number of contact points and the position of these contact points are determined via the tactile sensor skin. As a result, then the shape and position of the object can be determined.
- the method may have all the features described in connection with the device according to the invention and vice versa.
- the method comprises a passive deformation of the deformable body and the gripping surface by the object to be gripped while the gripping surface is pressed onto the object.
- the chamber is filled with a granulate and the granules in the granular chamber during the pressing of the gripping surface on the object is freely movable so that the shape of the gripping surface adapts to the object to be gripped. Subsequently, a vacuuming of the granule chamber, so that a hardening of the gripping surface formed by this takes place. The vacuuming thus results in a simultaneous contraction and hardening of the granular chamber, so that the gripped object is clamped. It is preferred that when a maximum allowable contact force is exceeded, the object is released and again gripped in a different orientation. As a result, it may possibly be achieved that the maximum permissible contact force is not exceeded in the new gripping configuration. This can improve the grip of fragile objects.
- an object of unknown orientation may be gripped by the robotic gripper.
- the contact forces measured on the tactile sensor skin determine the orientation of the object relative to the robotic gripper.
- the article is then rotated by the robotic gripper due to its now known orientation and handed over in a desired orientation.
- the robotic gripper can be attached to a robot arm, which is moved in such a way that the now known orientation of the gripped object corresponds to the desired orientation and the object can thus be transferred in the desired orientation.
- the tactile sensor skin can itself be designed as an elastic bellows, which forms the granule chamber. Alternatively, the tactile sensor skin can also be applied to an elastic bellows through which the granule chamber is formed.
- the knowledge of the orientation of the object after it has been grasped makes it possible to dispense with complex image-based measuring systems for detecting the alignment. This can be of particular importance when a larger number of objects with complex geometries are to be used undefined, for example from a box.
- the gripper according to the invention does not have to be complicated to adapt to new objects, as is the case with conventional grippers.
- a granulate having different properties and particle sizes can be used.
- the granules may have a particle size between 50 and 1,000 micrometers. It can be used a homogeneous or inhomogeneous granules.
- FIG. 1 shows a schematic side view of an embodiment of the gripper according to the invention
- Figure 2 is a schematic bottom view of the same embodiment.
- the gripping surface 12 of the robotic gripper 10 according to the invention is formed by the granule chamber 14 in the embodiment according to FIG. This is connected to a vacuuming device, not shown.
- the contact surface 12 is pressed in the non-vacuum state on the object to be gripped 20 so that their shape adapts to the shape of the article 20.
- the granule chamber 14 is vacuumed so that the gripping surface contracts and hardens and retains the shape of the article 20. This can be used safely.
- the elastic sensor skin 16 on the gripping surface 12 is mounted, contact forces are measured, which occur on the gripping surface 12.
- the electrical sensor skin 16 has a plurality of electrically conductive wires 18 whose electrical resistance changes when they are deformed. These wires may, for example, have piezoelectric properties.
- FIG. 2 shows the same robotic gripper 10 from below. It is possible to grip the article 20 without knowing its exact orientation. The orientation of the article 20 relative to the robotic gripper 10 is determined by the sensor skin 16 so that the article 20 can be transferred in a desired orientation.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016201541.9A DE102016201541B4 (en) | 2016-02-02 | 2016-02-02 | Robotic gripper and method for operating one |
PCT/EP2017/052125 WO2017134092A1 (en) | 2016-02-02 | 2017-02-01 | Robotic gripper and method for operating same |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3302898A1 true EP3302898A1 (en) | 2018-04-11 |
Family
ID=57963205
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17703108.5A Withdrawn EP3302898A1 (en) | 2016-02-02 | 2017-02-01 | Robotic gripper and method for operating same |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3302898A1 (en) |
DE (1) | DE102016201541B4 (en) |
WO (1) | WO2017134092A1 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3846982B1 (en) * | 2018-09-07 | 2023-11-08 | Fogale Sensors | Method and device for controlling a robot, and robot provided with such a device |
US11667039B2 (en) | 2019-01-31 | 2023-06-06 | Toyota Research Institute, Inc. | Systems and methods for estimating shape, contact forces, and pose of objects manipulated by robots having compliant contact and geometry sensors |
BR102019005708A2 (en) * | 2019-03-22 | 2020-09-29 | Máquinas Sanmartin Ltda | DEVICE FOR HANDLING PRODUCTS IN CONTAINERS, SINGLE OR GROUPED, BASED ON MOVEMENT BY ELASTIC PRESSURE ON THE TOP OF THE CONTAINERS |
DE102020205464A1 (en) | 2020-04-30 | 2021-11-04 | Robert Bosch Gesellschaft mit beschränkter Haftung | Gripping element for a handling device and handling device |
DE102020134573B3 (en) | 2020-12-22 | 2022-03-03 | Technische Universität Ilmenau | End effector for systems for gripping and manipulating an object, method for its manufacture and method for gripping and manipulating an object |
CN113733137B (en) * | 2021-09-22 | 2022-11-29 | 清华大学深圳国际研究生院 | Variable-rigidity flexible clamping jaw with artificial touch sense |
GB202114779D0 (en) * | 2021-10-15 | 2021-12-01 | Rolls Royce Plc | Gripper device |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2840188C3 (en) * | 1978-09-15 | 1981-11-12 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München | Gripper jaw for the gripper of handling systems |
JP2008528408A (en) * | 2005-02-05 | 2008-07-31 | プラース−リンク,アンドレアス | General-purpose gripping device and holding device |
DE102007020131B4 (en) * | 2007-04-28 | 2009-06-04 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Tactile surface sensor |
US20100054903A1 (en) * | 2008-09-03 | 2010-03-04 | Christopher Vernon Jones | Method and Device for Manipulating an Object |
JP4896198B2 (en) * | 2009-10-14 | 2012-03-14 | 国立大学法人東北大学 | Tactile sensor system |
DE102010034704B4 (en) | 2010-08-18 | 2015-08-20 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Tactile sensor with at least one elastic extensible electrical resistance element |
DE102010034719B4 (en) * | 2010-08-18 | 2014-02-27 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Elastic deformable film element, process for its preparation and its use |
DE102012012289A1 (en) * | 2012-06-20 | 2012-12-20 | Daimler Ag | Robot i.e. industrial robot, for aligning screw, has low pressure adjustment device varying low pressure in cushion for adjusting resistance level of granulate, so that mechanical holding forces are transferred to component |
WO2015123128A1 (en) * | 2014-02-11 | 2015-08-20 | Empire Robotics, Inc. | Jamming grippers and methods of use |
-
2016
- 2016-02-02 DE DE102016201541.9A patent/DE102016201541B4/en active Active
-
2017
- 2017-02-01 EP EP17703108.5A patent/EP3302898A1/en not_active Withdrawn
- 2017-02-01 WO PCT/EP2017/052125 patent/WO2017134092A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
DE102016201541B4 (en) | 2021-05-06 |
WO2017134092A1 (en) | 2017-08-10 |
DE102016201541A1 (en) | 2017-08-03 |
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