This paper introduces the new concept of a gripper mechanism mounted on the home cleaning robot. This new mechanism composed of two grippers and an auxiliary dustpan can tidy and load up objects. We additionally analyze the required motor torque and dynamic motion of this robot using dynamic simulation of Recurdyn. This new tidying gripper mechanism is expected to be used in various home cleaning applications.

Recently, the robotic hand sector is widely utilized throughout the entire machine industry, where gripping mechanism is gradually becoming more complex and standardized. In this study, studies were conducted to hold irregular, unstructured objects with simpler, more manageable operating principles based on compliant mechanics. In fact, it used the principle of buckling which is not commonly used in mechanical design to provide stable grasping force without giving any damage to objects with uncertain magnitude and rigidity. By using CFM(constant force mechanism) based on the principle of buckling, the force of the object and the contact surface is fixed evenly across the segments, providing a stable grasping force to the object. Also, a bar that serves as a linear guide prevents the hand from buckling to unwanted direction gives elaboration to the hand. With a simpler principle, the lower unit price and higher applicability, there is little friction in the mechanism, and it focused on creating a lightweight hand, which have significance for about 90% of excellent gripping performance.

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

This paper proposes a Dual Controller System for Precision Control (DCSPC) for control of the gripper. The DCSPC consists of two subsystems, CDSP (Controller based DSP) and CARM (Controller based ARM processor). The CDSP is developed on a DSP processor and controls the gripping motor and LVDT. In particular, the CARM is implemented using Linux and ARM processor according to recent research related to open-source. The robot for high-precision assembly is divided into the robot control and the gripper control section and controls CARM and CDSP systems respectively. In this paper, we also proposed and measured the performance of communication API. As a result, it is expected to recognize improvements in communication between CARM and the robot controller, and will continue to conduct relevant research among other commercial robot controllers.

This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.