A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator

Chandramouly Ulagaoozhian; Vincent Duchaine

doi:10.1109/IROS47612.2022.9981155

A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator

Chandramouly Ulagaoozhian
, Vincent Duchaine

École de technologie supérieure

Research output: Contribution to Book/Report types › Contribution to conference proceedings › peer-review

1 Citation (Scopus)

Abstract

While collaborative robotic arms offer significant safety benefits, safety of the overall manipulator system cannot be guaranteed unless equally strict safety requirements are satisfied by the accompanying end-effector. Current robot grippers are not made in a way that fulfills such a requirement, resulting in collaborative robots needing to operate in a protected environment. This paper presents a novel permanent magnet actuator inside of a conventional industrial electric gripper which results in an end-effector that has an unmatched force range of 1-2N to 43N and exhibits interesting characteristics suited to the requirements of a safe gripper such as torque holding without power, variable stiffness and force sensing.

Original language	English
Title of host publication	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4646-4652
Number of pages	7
ISBN (Electronic)	9781665479271
DOIs	https://doi.org/10.1109/IROS47612.2022.9981155
Publication status	Published - 2022
Externally published	Yes
Event	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2022-October
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Country/Territory	Japan
City	Kyoto
Period	23/10/22 → 27/10/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

!!!Keywords

Cobot
Human-Safe gripper
actuator
collaborative robot

Access to Document

10.1109/IROS47612.2022.9981155

Cite this

Ulagaoozhian, C., & Duchaine, V. (2022). A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 (pp. 4646-4652). (IEEE International Conference on Intelligent Robots and Systems; Vol. 2022-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS47612.2022.9981155

Ulagaoozhian, Chandramouly ; Duchaine, Vincent. / A Novel Human-Safe Robotic Gripper : An application of a Programmable Permanent Magnet Actuator. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 4646-4652 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{c0bb5afdc36b4416b1e4da7c4342f19f,

title = "A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator",

abstract = "While collaborative robotic arms offer significant safety benefits, safety of the overall manipulator system cannot be guaranteed unless equally strict safety requirements are satisfied by the accompanying end-effector. Current robot grippers are not made in a way that fulfills such a requirement, resulting in collaborative robots needing to operate in a protected environment. This paper presents a novel permanent magnet actuator inside of a conventional industrial electric gripper which results in an end-effector that has an unmatched force range of 1-2N to 43N and exhibits interesting characteristics suited to the requirements of a safe gripper such as torque holding without power, variable stiffness and force sensing.",

keywords = "Cobot, Human-Safe gripper, actuator, collaborative robot",

author = "Chandramouly Ulagaoozhian and Vincent Duchaine",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 ; Conference date: 23-10-2022 Through 27-10-2022",

year = "2022",

doi = "10.1109/IROS47612.2022.9981155",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4646--4652",

booktitle = "2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022",

}

Ulagaoozhian, C & Duchaine, V 2022, A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator. in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. IEEE International Conference on Intelligent Robots and Systems, vol. 2022-October, Institute of Electrical and Electronics Engineers Inc., pp. 4646-4652, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022, Kyoto, Japan, 23/10/22. https://doi.org/10.1109/IROS47612.2022.9981155

A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator. / Ulagaoozhian, Chandramouly; Duchaine, Vincent.
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 4646-4652 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2022-October).

Research output: Contribution to Book/Report types › Contribution to conference proceedings › peer-review

TY - GEN

T1 - A Novel Human-Safe Robotic Gripper

T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022

AU - Ulagaoozhian, Chandramouly

AU - Duchaine, Vincent

PY - 2022

Y1 - 2022

N2 - While collaborative robotic arms offer significant safety benefits, safety of the overall manipulator system cannot be guaranteed unless equally strict safety requirements are satisfied by the accompanying end-effector. Current robot grippers are not made in a way that fulfills such a requirement, resulting in collaborative robots needing to operate in a protected environment. This paper presents a novel permanent magnet actuator inside of a conventional industrial electric gripper which results in an end-effector that has an unmatched force range of 1-2N to 43N and exhibits interesting characteristics suited to the requirements of a safe gripper such as torque holding without power, variable stiffness and force sensing.

AB - While collaborative robotic arms offer significant safety benefits, safety of the overall manipulator system cannot be guaranteed unless equally strict safety requirements are satisfied by the accompanying end-effector. Current robot grippers are not made in a way that fulfills such a requirement, resulting in collaborative robots needing to operate in a protected environment. This paper presents a novel permanent magnet actuator inside of a conventional industrial electric gripper which results in an end-effector that has an unmatched force range of 1-2N to 43N and exhibits interesting characteristics suited to the requirements of a safe gripper such as torque holding without power, variable stiffness and force sensing.

KW - Cobot

KW - Human-Safe gripper

KW - actuator

KW - collaborative robot

UR - https://www.scopus.com/pages/publications/85146335275

U2 - 10.1109/IROS47612.2022.9981155

DO - 10.1109/IROS47612.2022.9981155

M3 - Contribution to conference proceedings

AN - SCOPUS:85146335275

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4646

EP - 4652

BT - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 23 October 2022 through 27 October 2022

ER -

Ulagaoozhian C, Duchaine V. A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 4646-4652. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS47612.2022.9981155

A Novel Human-Safe Robotic Gripper: An application of a Programmable Permanent Magnet Actuator

Abstract

Publication series

Conference

UN SDGs

!!!Keywords

Access to Document

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