<joint name="elbow_joint" value="0" /> <joint name="shoulder_lift_joint" value="-1.5" /> <joint name="shoulder_pan_joint" value="0" /> <joint name="wrist_1_joint" value="0" /> <joint name="wrist_2_joint" value="0" /> <joint name="wrist_3_joint" value="0" /> </gr...
1, and the thickness of each joint from the finger base to the fingertip is 5, 3, and 1 mm, respectively. The experimental set-up is shown in Supplementary Fig. 9a. A 3D-printed cylinder with a diameter of 60 mm is used as the target, which is moved upwards under the drag ...
The analysis showed that by rotation of the gripper around an oriented axis of the machine cylindrical part, the probability of the joint and process capability index Cp value can be increased from Cp= 1.17 to Cp=1.33. The optimal orientation of the robot gripper enables the clearance fit ...
Joint 𝑃1P1 is set as the fixed origin point of the Cartesian X–Y coordinates, as shown in Figure 4. Each linkage vector 𝑟𝑖⇀ri⇀, where i = 1, 2, 3, and 4, has a corresponding length 𝑟𝑖 ri¯ defined by Equation (1): 𝑟1 =𝑃1𝑃4 , with θ1 from the...
(b) The average actual grasp force values (red dots) verified by the ground truth, fitted as dashed lines, along with a force curve when the target force is set to 10 N. The error bars are present but too small to be clearly visible. The PID controller parameters were adjusted using...
Another advantage of the system proposed is the possibility to adjust and set the initial aperture of the MG. If it is required to clamp smaller objects, there are two possible ways to modify the opening range: the first one is to increase the mechanical preload by decreasing the distance be...
Two-DoF spherical wrist joint action is only used to solve the given geduldspiele cube. For the training of the robotic agent, again, PPO was adopted under a reinforcement learning framework, which is supported by the Unity. The hyperparameters were set as follows: batch size = 10, buffer...
Two-DoF spherical wrist joint action is only used to solve the given geduldspiele cube. For the training of the robotic agent, again, PPO was adopted under a reinforcement learning framework, which is supported by the Unity. The hyperparameters were set as follows: batch size = 10, buffer...
Subsequently, utilize the iterative optimization mechanism of the NSGA3 algorithm to solve the target function and obtain the Pareto optimal solution set. Apply the principle of cooperative equilibrium to obtain the optimal structural framework. Embed this structural framework into generative design for ...
The soft gripper is capable of autonomous gripping that enables it to firmly fix various objects without damage by checking the sensing value, grasping the grip state, and adjusting the appropriate gripping force. The weight of the gripping target could be inferred from the sensor’s value, and...