Experimental and simulation analysis of material suitability for the effective robot gripping and manipulation

Abstract

A robot is an artificial agent, meaning it acts instead of a person, doing things it is designed for. Robots are usually machines controlled by a computer program or electronic circuitry. They may be directly controlled by humans. Robots are also used in factories to build things like cars, candy bars, and electronics. Robots are now used in medicine, for military tactics, for finding objects underwater and to explore other planets. Robotic technology has helped people who have lost arms or legs. Robots are a great tool to help mankind. In robotics, an end effector is a device or tool that s connected to the end of a robot arm where the hand would be. The end effector is the part of the robot that interacts with the environment. An end effector is usually attached to the robot s wrist, and it allows the robot to accomplish a specific task. There are two general categories of end effectors viz. grippers and tools. Grippers grasp and manipulate the objects during the work cycle. End effectors, also known as End-of-Arm Tooling (EOAT), are devices that are attached to the end of a robotic arm. They are designed and used to act as robot wrists that interact with the environment. The present work focused on the soft contact robot finger material and the vibrational resistance material for the robot arm. Studies are being carried out on the soft contact between the handling object and the robot finger. In this approach, the model is assumed that the handling object in a spherical shape and the finger material as a flat surface. For analyzing this model the flat surface is a deformable member and the sphere is a rigid member. The experimental and finite element analysis is carried out focusing on the material suitability for soft handling. newline