Design and implement of a manipulator end-effector with parallel pneumatic grippers and vision positioning

Author

Qixin Cai ; Xuesong Shao ; Jian Liu ; Zhongdong Wang ; Wei Xiao ; Wei Wang ; Chunlong Xing

Author_Institution

State Grid Key Lab. of Electr. Energy Meas., Nanjing State Grid Jiangsu Electr. Power Res. Inst., Nanjing, China

fYear

2015

fDate

2-5 Aug. 2015

Firstpage

2583

Lastpage

2588

Abstract

This paper proposes the development of a manipulator end-effector with three parallel pneumatic grippers used for the electric energy meter detection. Two flexible jaws are added to each gripper to assist for the correct and stable release of the object. We employ barcode scanner for reading the meter box and electric energy meter information and camera for positioning. The manipulator positioning error has been analyzed through experiment with the camera installed on the end-effector, and the other errors can also be compensated with vision positioning. We build the end-effector and assemble it on a 6-DOF manipulator to grasp and release the electric energy meters, which has been put into use in factory.

Keywords

end effectors; grippers; position control; barcode scanner; electric energy meter detection; electric energy meter information; manipulator end effector; manipulator positioning error; meter box reading; parallel pneumatic grippers; vision positioning; Cameras; Electromagnetics; Force; Grippers; Manipulators; Solenoids; Valves; End-effector; Gripper; Manipulator; Vision Positioning;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2015 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-7097-1

Type

conf

DOI

10.1109/ICMA.2015.7237894

Filename

7237894