Erdemir Gökhan
Electrical and Electronics Engineering Department, Istanbul Sabahattin Zaim University, İstanbul, Turkey.
PeerJ Comput Sci. 2021 Mar 18;7:e401. doi: 10.7717/peerj-cs.401. eCollection 2021.
Robotic systems are generally used for grasping, carrying, holding, and many similar operations, typically in industrial applications. One of the most important components of robotic systems is robot grippers for the aforementioned operations, which are not only mission-critical but also represent a significant operational cost due to the time and expense associated with replacement. Grasping operations require sensitive and dexterous manipulation ability. As a consequence, tactile materials and sensors are an essential element in effective robot grippers; however, to date, little effort has been invested in the optimization of these systems. This study has set out to develop inexpensive, easily replaced pads, testing two different chemical compositions that are used to produce a tactile material for robot grippers, with the objective of generating cost, time, and environmental savings. Each tactile material produced has its specific individual dimension and weight. First, each of the materials under construction was tested under different constant pressures, and its characteristics were analyzed. Second, each tactile material was mounted on a two-fingered robot gripper and its characteristics. Material characteristics were tested and analyzed as regards their ability to grasp different sizes and types of objects using the two-fingered robot gripper. Based on the analysis of the results the most sensitive and cost-effective material for industrial type multi-fingered grippers was identified.
机器人系统通常用于抓取、搬运、握持以及许多类似操作，典型应用于工业领域。机器人系统最重要的部件之一是用于上述操作的机器人抓手，它们不仅对任务至关重要，而且由于更换所需的时间和费用，还代表着一项重大的运营成本。抓取操作需要灵敏且灵巧的操控能力。因此，触觉材料和传感器是有效机器人抓手中的关键要素；然而，迄今为止，在这些系统的优化方面投入的精力很少。本研究着手开发价格低廉、易于更换的垫片，测试用于生产机器人抓手触觉材料的两种不同化学成分，目标是节省成本、时间和保护环境。所生产的每种触觉材料都有其特定的尺寸和重量。首先，对每种正在制作的材料在不同恒定压力下进行测试，并分析其特性。其次，将每种触觉材料安装在双指机器人抓手上并测试其特性。针对使用双指机器人抓手抓取不同尺寸和类型物体的能力，对材料特性进行了测试和分析。基于结果分析，确定了适用于工业型多指抓手的最灵敏且性价比最高的材料。
