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

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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