We introduce a multi-functional robotic gripper equipped with a set of actions required for the disassembly of electromechanical devices. The gripper consists of a robot arm with 5 degrees of freedom (DoF) for manipulation and a jaw gripper with a 1-DoF rotation joint and a 1-DoF closing joint. The system enables manipulation in 7 DoF and offers the ability to reposition objects in hand and to perform tasks that usually require bimanual systems. The sensor system of the gripper includes relative and absolute joint encoders, force and pressure sensors to provide feedback about interaction forces, a tool-mounted camera for screw detection, and precise placement of the tooltip using image-based visual servoing. We present a data-driven method for estimating joint torques based on the output voltage and motor speed. Further, we provide methods for teaching disassembly actions based on human demonstration, their representation as movement primitives, and execution based on sensory feedback. We provide quantitative results regarding positioning and torque estimation accuracy, disassembly success rate, and qualitative results regarding the successful disassembly of hard disc drives.


    Access

    Download


    Export, share and cite



    Title :

    The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks


    Contributors:

    Publication date :

    2021-05-30



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm

    Borràs Sol, Júlia / Heudorfer, Raphael / Rader, Samuel et al. | BASE | 2018

    Free access

    The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm

    Borràs, Julia / Heudorfer, Raphael / Rader, Samuel et al. | BASE | 2019

    Free access

    GRIPPER

    JOHANNISSON WILHELM / INGRAM-TEDD ANDREW / LINDBO LARS SVERKER TURE et al. | European Patent Office | 2023

    Free access

    Gripper

    WILHELM JOHANNISSON / ANDREW INGRAM-TEDD / LARS SVERKER TURE LINDBO et al. | European Patent Office | 2022

    Free access

    Gripper

    KIM SANG PILL | European Patent Office | 2016

    Free access