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A Robotic End-Effector for Screwing and Unscrewing Bolts From the Side

文献类型：期刊论文

作者Tao, Rui1,2; Fan, Junfeng1,2; Jing, Fengshui1,2; Jun, Hou1,2; Xing, Shiyu1,2; Ma, Yunkai1,2; Tan, Min1,2
刊名IEEE ROBOTICS AND AUTOMATION LETTERS
出版日期2022-10-01
卷号7期号:4页码:9793-9800
关键词Fasteners End effectors Robots Torque Mouth Gears Grippers Screwing and unscrewing grippers and other end-effectors mechanism design assembly
ISSN号2377-3766
DOI10.1109/LRA.2022.3192773
通讯作者Jing, Fengshui(fengshui.jing@ia.ac.cn)
英文摘要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.
WOS关键词GRIPPER
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]
WOS研究方向Robotics
语种英语
WOS记录号WOS:000833811000002
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China ; Youth Innovation Promotion Association of CAS
源URL[http://ir.ia.ac.cn/handle/173211/49818]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Jing, Fengshui
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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.

入库方式： OAI收割

来源：自动化研究所

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