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Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 11
Gripping technologies 1
G. Fantoni
Department of Civil and Industrial EngineeringUniversity of Pisa (Italy)
NEWTECH 2013
1 on the basis of the paper “Grasping devices and methods in automated production processes” , CIRP Annals - Manufacturing
Technology, Volume 63, Issue 2, 2014,
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 2NEWTECH 2013 G. Fantoni - Gripping technology
Remarks
• The presentation has been prepared for NewTech Conference 2013 and it is titled Gripping Technology. However it is based on the CIRP Keynote paper titled «Grasping devices and methods in automated production processes».
• Please refer to this presentation by citing the paper as: Fantoni, G., Santochi, M., Dini, G., Tracht, K., Scholz-Reiter, B., Fleischer, J., Lien, T.K., Seliger, G., Reinhart, G.,Franke, J., Hansen, H.N., Verl, A.,2014, Grasping devices and methods in automated production processes, CIRP Annals - Manufacturing Technology, Volume 63, Issue 2, 2014, Pages 679-701, ISSN 0007-8506, http://dx.doi.org/10.1016/j.cirp.2014.05.006.
• The final version of the present paper can be found at http://www.sciencedirect.com/science/article/pii/S0007850614001887
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 3NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 4NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 5NEWTECH 2013 G. Fantoni - Gripping technology
Gripper: definition
“a subsystems of handling mechanisms which provide temporary contact with the object to be grasped [..] and ensure the position and orientation when carrying and mating the object to the handling equipment [..]; the term “gripper” is also used in cases where no actual grasping, but rather holding of the object where the retention force can act on a point, line or surface [..]” Monkman et al. Robot grippers
In abstract terms: h. mechanisms + Block/Hold + object + temporaryThat means that after grasping some of the DOF of G. and O. are the same
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 6NEWTECH 2013 G. Fantoni - Gripping technology
Cases of «not standard» grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 7NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 8NEWTECH 2013 G. Fantoni - Gripping technology
The grasping process
1. Approaching the object: the gripper is positioned nearby the object.2. Coming into contact with the object surface3. Increasing the grasping force: the grasping force is increased, within certain limits.4. Securing the object. The force stops increasing. The dof of the object are removed 5. Lifting the object;6. Releasing the object. Issue at the microscale;
Monitoring the grasp: direct or indirect control of force, torque, stick slip sensors, contact.
8
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 9NEWTECH 2013 G. Fantoni - Gripping technology
But is it true?
FEEDING GRASPING HANDLING PLACING
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 10NEWTECH 2013 G. Fantoni - Gripping technology
But is it true?
FEEDING GRASPING HANDLING PLACING
Steel sheetsPorous plies
NS
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 11NEWTECH 2013 G. Fantoni - Gripping technology
But is it true?
FEEDING GRASPING HANDLING PLACING
Steel sheetsPorous plies
NS
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 12NEWTECH 2013 G. Fantoni - Gripping technology
But is it true?
FEEDING GRASPING HANDLING PLACING
High accelerations
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 13
Adhesion problems in micro assembly
Force between a silicon sphere and plane (by Fearing)
10-310-410-510-610-15
10-10
10-5
100
radius of the sphere [m]
forc
e [N
]
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 14NEWTECH 2013 G. Fantoni - Gripping technology
Releasing??
Releasing problems only at microscale? FALSE
permanent magnets on rotors of electric drives Sol-Gel dough products Frozen products
An for sure at micro and nano scale
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 15NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 16NEWTECH 2013 G. Fantoni - Gripping technology
Grasping principles
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 17NEWTECH 2013 G. Fantoni - Gripping technology
Standard Friction and Jaw grippers
Friction-jaw mechanical grippers sx) two fingers; centre) single moving finger; dx) microgripper piezoelectricallyactuated.
20°
90°90°
20°
a)
c) d)
b)
See FestoSee Monkman
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 18NEWTECH 2013 G. Fantoni - Gripping technology
Friction and Jaw grippers: standard?
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 19NEWTECH 2013 G. Fantoni - Gripping technology
Vacuum grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 20
Vacuum: the key tech in SMDs assembly
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 21NEWTECH 2013 G. Fantoni - Gripping technology
Needle gripper
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 22NEWTECH 2013 G. Fantoni - Gripping technology
Bernoulli grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 23NEWTECH 2013 G. Fantoni - Gripping technology
Capillary grippers
To release parts grasped by capillary grippers:
- Scratching agaist an edge,
- Two different fluids, - Changing the gripper
curvature, - Electrowetting.
At microscale capillary grippers have been used owing to their flexibility and reliability; have a compliant behaviour and a self-centring effect; capability of grasping small and light components in a wide range of materials and shapes; capability of handling delicate components as the meniscus between the gripper and the object has a “bumper” effect.
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 24NEWTECH 2013 G. Fantoni - Gripping technology
Capillary principle
TT
T T
Gripper
mg
pa
p l
α 1α 2
Fc=FL+FT (1)FL= 2 HπRa
2 (2)FT= 2πRaγsin(θ+α) (3)
In the previous equations γ is the surface tension (for water ~7210-3Nm-1) and H=2(1/r0-1/r1).
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 25NEWTECH 2013 G. Fantoni - Gripping technology
Capillary grippers
• Reliable• Self centering• Compliant• It can work without refilling for more than
1000 times (grasping-releasing cycles)
• It leaves traces and can stain lenses or surface finished parts (mirrors, optics)
• Particular care in its use with SMDs and other electronic components
• Often the process need for a following phase of heating in order to remove (by evaporation) the liquid
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 26
Capillary grippers: grasping and releasing
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 27
Working principle of theadhesion gripper able to“grasp” and release micropartsby a curvature change.
GraspingMoving Releasing
Capillary grippers: grasping and releasing
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 28NEWTECH 2013 G. Fantoni - Gripping technology
Grasping and releasing microparts exploiting liquids with different surface tensions
A novel grasping and releasing strategy for microparts exploiting liquids with different surface tensions[Fantoni, Porta, Santochi]
Releasing Force
h [mm] Vol [mm3]
Fc [m
N]
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 29
High reliability Centring effect
Many tests, all succeeded100% reliability
Also for very small ‘releasing’ volume
Results
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 30NEWTECH 2013 G. Fantoni - Gripping technology
Capillary grippers
Multiple grasping[Lambert,2005]
Extensions to macroscale?
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 31NEWTECH 2013 G. Fantoni - Gripping technology
«ice» gripper
More in general we can define them as «phase transition grippers», they exploit the transition of a material from liquid to ‘solid’.
Ultrasonic-assisted adhesive for limp and air-permeable textiles
Ice gripperfor limp and air-permeable textiles
Ice gripperfor
microlenses
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 32NEWTECH 2013 G. Fantoni - Gripping technology
Electrostatic principle
Conductive
Dielectric
Conductive or dielectric
+ + + + + + + + + +
- - - - - - - - -
V
(a)
+ + + +
- - - -- - -
V
- - -- - -
+ + + +
+ + + +
(d)
V
(c)- - - - - - - - - - - - - - -
+ + + + + + + + + +
- - - - - - -+ + + + +
V
- - - - - - - - - - - - - - -- - - - - - -+ + + + +
(b)
+ + + + + + + +
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 33NEWTECH 2013 G. Fantoni - Gripping technology
Electrostatic grippers
Electrostatic forces: experimental evidences
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 34
HV
Glass substrate
Conductiveworking plane
Cross gripper
Cross gripper
Grasped component
conductive+++++++++++++++
V- - - - - - - - - - - - - - -
V0
Electrostatic Microgrippers
- + - + - +
[ Hesselbach ]
[ Enikov ]
[ Fantoni ]
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 35
Electrostatic Microgrippers with centering capabilities
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 36
Van der WaalsVan der Waals
CapillaryCapillaryElectrostaticForcesElectrostaticForces
gg
Adhesion forceAdhesion force
Force acting at the micro scale
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 37
Van der Waals forces
Towards gecko tapes
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 38
a b c d
Adhesive grippers: grasping and releasing
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 39NEWTECH 2013 G. Fantoni - Gripping technology
Ultrasound «gripper»
Sonodrote: the parts are moved by the air pressure generated by a sonodrote. The parts levitate above the plate.
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 40NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 41NEWTECH 2013 G. Fantoni - Gripping technology
Releasing strategies
Collection of strategies and approaches to release parts mainly at micro level.
[Arai], [Fearing], [Fantoni], [Van Brussel]
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 42NEWTECH 2013 G. Fantoni - Gripping technology
Releasing part 1
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 43NEWTECH 2013 G. Fantoni - Gripping technology
Releasing part 2
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 44NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 45NEWTECH 2013 G. Fantoni - Gripping technology
The grasping process
1. Approaching the object: the gripper is positioned nearby the object.2. Coming into contact with the object surface3. Increasing the grasping force: the grasping force is increased, within certain limits.4. Securing the object. The force stops increasing. The dof of the object are removed 5. Lifting the object;6. Releasing the object. Issue at the microscale;
Monitoring the grasp: direct or indirect control of force, torque, stick slip, contact.
45
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 46NEWTECH 2013 G. Fantoni - Gripping technology
The monitoring methods
Sensing principles: a) Mechanical switch; b) electrical sensor; c) photoelectric sensor; d) vision based; e) tactile sensor; f) strain gauges; g) force/torque sensor; h) vision based; i) capacitive or electrostatic; j) led-photodiode (often IR); k) vision based monitoring.
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 47
Piezoresitive
Indirect force measuring system
The monitoring methods
x-sensor
y-sensor
z-sensor
gripper GEH6030
adapter plate
xy
z
gripper finger 1
gripper finger 2
Strain gauges
[Tracht]
[Fantoni]
Flat‐packinductiveproximitysensor
Capacitive sensor
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 48NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 49NEWTECH 2013 G. Fantoni - Gripping technology
Trends
• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 50NEWTECH 2013 G. Fantoni - Gripping technology
Trends
• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 51NEWTECH 2013 G. Fantoni - Gripping technology
Hybrid Grippers
Electroadhesive + Force Bernoulli + «Form»Form + Force
+ Vacuum
A new generation of hybrid grippers seems emerging:
• More than two principles per gripper• Increasing object-gripper coupling
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 52NEWTECH 2013 G. Fantoni - Gripping technology
Vacuum + Friction2 vacuum cups
additional vacuum cup
flap
parcel
telescopic slide-out
parcel parcel
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 53NEWTECH 2013 G. Fantoni - Gripping technology
Electrostatic + Form
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 54NEWTECH 2013 G. Fantoni - Gripping technology
Jamming technology for graspingForm + Friction + Vacuum (+ liquid/solid transition)
The Jamming Gripper is based on agranular material contained in aflexible membrane. The latex balloonmembrane is connected to the basethrough a collar, producing an airtightseal. The collar is the rigid part of thegripper (when not actuated) and helps toguide the gripper and to fit its shape tothe target. When the gripper and theobject are coupled, vacuum is providedand a transition from deformable torigid state generates the grasping force(grasping based on friction).
54
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 55NEWTECH 2013 G. Fantoni - Gripping technology
Working modes
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 56
Electrostatic Peltiér
Micro distributed vacuum cups Adhesive silicon gripper
Programmable Switchable
Adhesive +distributed
vacuum
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 57NEWTECH 2013 G. Fantoni - Gripping technology
Trends
• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 58NEWTECH 2013 G. Fantoni - Gripping technology
Soft grippers
a) b) c) d)
e)
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 59NEWTECH 2013 G. Fantoni - Gripping technology
Additive manufactured gripper
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 60NEWTECH 2013 G. Fantoni - Gripping technology
Trends
• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 61NEWTECH 2013 G. Fantoni - Gripping technology
Increasing gripper d.o.f.
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 62
Flexible and compliant friction gripper
The “hose gripper” is a flexiblegripper, formed of a double-walledhose filled with water or air. Thishose is contained into a pipe andactuated by a plunger that moves upand down into the double-walledhose. To make the gripper capable ofgrasping and lifting objects, theunderside of the hose is located overthe object, thus partially covering theobject’s surface. When the plungerraises, the hose and the object areroped into the rigid pipe. Thereleasing is performed moving backthe plunger.The grasping is performed byexploiting both form and forceclosure (friction).
62NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 63NEWTECH 2013 G. Fantoni - Gripping technology
Compliant Vacuum Cups
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 64NEWTECH 2013 G. Fantoni - Gripping technology
Handling of flexible materials: leather plies
64
Since its flexibility, the compliantvacuum cup is able to maintain thegrasping also in case of deformableobjects (leather plies, textiles, etc..).During handling, the borders of theobjects fall down due to gravity.Therefore the entire object deformsand, if the vacuum cup does notfollow the object shape, the vacuumdecreases and the object is released.
The compliancy of the vacuum cup(due to both design and material)allows a reliable securing phase.
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 65
vacuum vacuum
vacuum
Adaptable + self-activating valves
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 66
Various approaches to adaptability
[Scott] [Pettersson]
[Jonas]
[Reinhart]
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 67NEWTECH 2013 G. Fantoni - Gripping technology
Trends
• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 68NEWTECH 2013 G. Fantoni - Gripping technology
Active surfaces
a) b)
c) d)
a) Roll-on gripper
b) Velvet fingers
c) Traction gripper
d) Robin Read’s g.
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 69NEWTECH 2013 G. Fantoni - Gripping technology
Roll-on gripper
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 70NEWTECH 2013 G. Fantoni - Gripping technology
Traction gripper for logistic applications
The Traction Gripper consists of double belt conveying units arranged perpendicular to each other. Each unit has traction belts that exert a friction force allowing the grasping of several shape goods. Each conveyor belts has a separate drive chain. The inward conveying motion of the traction belts causes friction between the active surfaces. The object is pulled into the right angle and held there firmly.
70
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 71NEWTECH 2013 G. Fantoni - Gripping technology
Velvet Fingers
Externalpresentation
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 72NEWTECH 2013 G. Fantoni - Gripping technology
Trends
• More than one single principle per time• Soft one piece gripper (silicon or AM)• High coupling• Active surfaces• New «principles» and «strategies»• Underactuated grippers• Bimanual handling• Lightweight grippers
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 73NEWTECH 2013 G. Fantoni - Gripping technology
From Micro to Macro and viceversa
[Parness]
Van der Waals NeedleCapillary
Cutkosky [Lanzetta]
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 74NEWTECH 2013 G. Fantoni - Gripping technology
Terrific forces
Video[Cutkosky], [Parness]
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 75NEWTECH 2013 G. Fantoni - Gripping technology
Lamellae—mm scale
Branches—μm scale
Setae—10s of μms
Spatulae—10s of nms
[Autumn], [Parness] Contact features use van der Waals forces
The Gecko Adhesive System
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 76NEWTECH 2013 G. Fantoni - Gripping technology
Synthetic Gecko Adhesive
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 77
Loading the Wedges
Moderately LoadedAdhesion ON
Heavily LoadedHIGH Adhesion ON
Load Direction
UnloadedAdhesion OFF
NEWTECH 2013 G. Fantoni - Gripping technology
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 78NEWTECH 2013 G. Fantoni - Gripping technology
Gecko Gripper (1)
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 79NEWTECH 2013 G. Fantoni - Gripping technology
NanoForceGripper by FESTO
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 80NEWTECH 2013 G. Fantoni - Gripping technology
Jamming for everything
Jamming for finger pads (roof tiles)
Jamming for trunc
Jamming for joints
Jamming for palm
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 81NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 82NEWTECH 2013 G. Fantoni - Gripping technology
Why not?
– Tree frogs– Cargofloor® and Switl®– Tixotropic / dilatants /rehopetic grippers– Magnetic fluids+adaptable surfaces
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 83NEWTECH 2013 G. Fantoni - Gripping technology
Toward a new adhesive gripper
W Federle, W.J.P Barnes, W Baumgartner, P Drechsler and J.M Smith, Wet but not slippery: boundary friction in tree frog adhesivetoe pads J. R. Soc. Interface 2006 3, 689-697
component
GRASP
Hydrophobic areas
Hydrophillic areas
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 84NEWTECH 2013 G. Fantoni - Gripping technology
Toward a new adhesive gripper: skin and pulp
Frog Fingeprint (SEM)
Supehydrophobic surface
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 85NEWTECH 2013 G. Fantoni - Gripping technology
Theoretical model
mg
h*
xa1
F2mg
h*
F1mg
A
B
C
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 86NEWTECH 2013 G. Fantoni - Gripping technology
xa1
xa2
xa3
F4
F1
F3
mg
mg
mg
R Theoretical model
water
superhydrophobic
water
hydrophobicwater
hydrophilic
Hydrophobic ring
D
E
F
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 87NEWTECH 2013 G. Fantoni - Gripping technology
Concept design
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 88NEWTECH 2013 G. Fantoni - Gripping technology
Active surfaces for grasping and releasing of microparts
Programmable hydrophobic surfaces [Fantoni, Zang, Tosello, Hansen] in progress
Standard Treated
Grasping and releasing of microparts by using active hydrophillic-phobic surfaces[Fantoni, Hansen, Santochi ]
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 89NEWTECH 2013 G. Fantoni - Gripping technology
Other principles?
Cargo floor: stick slip motion through selective surfaces activation
SWITL: an active shovel able to pick up even semi-liquid materials
Tixotropic liquids: their viscosity changes with the movement. e.g. S. Gennaro’s blood, wine, maionnaise, ketchup, quicksands, etc..
But can smart fluids be used?
Dilatants fluids: what for in microassembly?
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 90NEWTECH 2013 G. Fantoni - Gripping technology
Outline
• Standard definition and abstract definition• Grasping process
– Grasping principles– Releasing principles– Monitoring principles
• Trends• Why not?• Conclusions• Acknowledgements
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 91NEWTECH 2013 G. Fantoni - Gripping technology
Conclusions
• Research activities– RobLog (7° EU project) – MicroGrippers expoliting structured surfaces– Extension of the grasping principles from micro to macro– Continue the research on compliant, actuated, hyerarchical
surfaces
• Search for partners for joint projects and exchange of students
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 92NEWTECH 2013 G. Fantoni - Gripping technology
Aknowledgements
• Newtech 2013 Organizing commitee(mainly my former student Antonio Maffei)
• RobLog project (7° FP) • Fantoni, G., Santochi, M., Tracht, K., Dini, G., Scholz-Reiter,
B., Fleischer, J., Lien, T.K., Seliger, G., Reinhart, G., Franke, J., Hansen, H.N., Verl, A., 2014, Grasping devices and methods in automated production processes
Thank You for your attention!
Fantoni G.- Active surfaces, materials and tools for assembly -STC-A 2011 93NEWTECH 2013 G. Fantoni - Gripping technology
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Gripping technologies 1
G. Fantoni [email protected]
Department of Civil and Industrial EngineeringUniversity of Pisa (Italy)
NEWTECH 2013
1 on the basis of the paper “Grasping devices and methods in automated production processes” , CIRP Annals - Manufacturing
Technology, Volume 63, Issue 2, 2014,