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Generally, robot gripper is the tool to enhancing the efficiency and ability of grasping task of robot manipulator. The interaction between the object and the grasping finger is the main target of robotic gripper design stage. For this research, robot gripper is then proposed as the new method of robot gripper force control using real-time estimate...
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... This paper presents another approach (Ai and Xu 2014;Chattaraj et al. 2016) of the versatile compliant gripper with appropriated consistency. The kinematicbased technique (Ai and Xu 2014;Chen and Fung 2009) is applied to incorporate physical body practices (Kyung et al. 2008), and simulation Suebsomran 2019). The delayed consequences of past investigations showed the most huge parameters of compliant mechanisms such as displacement (Dao and Huang 2015;Le Chau et al. 2020), frequency Huang et al. 2012), stress (Cha et al. 2018;Chau et al. 2018), and strain (Bhattacharya et al. 2015a). ...
This investigation confronts the note-worthy improvement configuration gap in which such a design method could be better focused on the multi-objective optimization design of a compliant gripper mechanism as a robot arm through an effective hybrid algorithm of fuzzy logic and adaptive neuro-fuzzy inference system (ANFIS). We found that the proposed bi-algorithm approach is more compelling than theoretical ideas like auxiliary shape changes, materials, and directors of mechanisms when designing the compliant gripper mechanism with a set of novel multi-objective optimization design recently. In particular, it explores whether the compliant gripper mechanism shapes affect picking things up. In this unique study, we considered displacement values and the frequency values as response parameters during the simulation and the optimization design process. To test the effectiveness of the optimal design method, we proposed an initial compliant gripper mechanism carried out through the numerically experimental matrix—the Box–Behnken design. After that, we simulated the numerical model by utilizing the finite element method incorporating the approaches of desirability function, fuzzy logic system, and ANFIS. The results turn larger than those of the previous approaches. Moreover, numerical results reveal that the suggested hybrid method has a computational exactness more conspicuous than that of the Taguchi method. In short, the principle accomplishments with variables to the compliant gripper mechanism optimization design can be summarized up as follows: (i) the promising and potential proposed approach could meet the clients’ prerequisite, (ii) the idea of multi-objective optimization design ought to be re-considered when designing compliant gripper mechanism as well as applying related designing fields at the diminished expenses and the shortage time.
... The angular displacement can be measured by photodiode positioning system. 18 This measurement device is applied the visible light signal by using LED as a transmitter and using photodetector as a receiver between joint displacement and exerting force during motion. Such device emits very low electromagnetic interference (EMI) as proposed for using in medical application referred to CISPR 15 ed. ...
... Operation and design of transmitter and receiver device, Light-Emitting Diode (LED) and photodetectors, was described by. 18 Angular displacement of joint is measured by LED and converted signal to spring stiffness to gain force feedback. Conversion of force to torque is proposed for control design and implementation on these experiments. ...
Control of assistive exoskeleton robot recently has to be crucial of development and innovation of medical application. To support daily motions for humans, control application of assistive exoskeleton robot allows for limb movement with increased strength and endurance during patient’s wearable exoskeleton robot application. The interaction between such exoskeleton device and the human body at the connecting joint, especially the knees, is the main interest of this design formation. The assistive device requires to design and to develop into innovation design aspect. This research presents the novel design of an active compliant actuation joint in order to increasing the higher torque of actuation than conventional actuation joint. Control design of the higher torque actuation usually difficult priori to conventional torque control. This will contributed to applying the supervisory control for compliant actuation that verified by experiment method. Then the hybrid Radial Basis Function neural network (RBFNN) and PID were proposed for actuating torque control methods. Experimental results show that the design of supervisory control is get better response, and higher producing torque output than the conventional design. Error of torque control of compliant actuation is not instead of [Formula: see text] N·m for applying supervisory control, RBFNN with PID controller. Indeed, the low electromagnetic interference (EMI) positioning system using LED and photodiode detector is proposed to be usable in medical application.
The process of grasping and diverting loads is essential in many industrial applications. Robotic grippers have significantly evolved over the last three decades to carry out these operations. Robotic gripper design focuses primarily on the interaction between the object and the grasping finger. In this study, a developed robotic gripper design by adding a cam was prepared using MATLAB Simulink and a fuzzy-PID controller and derivative of the required mathematical equations. The developed gripper investigated the follower path according to the cam surface curve, which was not included in previous studies. The provided gripper model is designed uncomplicated, but it can perform particular tasks that conventional grippers may not be able to perform with the same accuracy and efficiency. The model has been tested under many complex and erratic operational conditions, and its robustness has appeared clearly from the simulation results. The results showed the power of the proposed gripper mechanism and its intelligent controller concerning the adequate reduction in the rise time, maximum percentage overshoot, steady-state error, and settling time
