Published:

2023-01-30

Issue:

Vol. 17 No. 1 (2023)

Section:

A Case-Study Vision

Impresión 3D para efectores flexibles

3D Printing for flexible effectors

Authors

  • Catalina Castillo Universidad Militar Nueva Granada
  • Robinson Jiménez Universidad Militar Nueva Granada
  • Javier Martínez Universidad de los Llanos

Keywords:

Efector flexible, Impresión 3D, Robótica Asistencial, Diseño CAD (es).

Keywords:

Flexible effector, 3D printing, Assistive Robotics, CAD design (en).

Downloads

Abstract Available Metrics References How to Cite

Abstract (es)

La impresión 3D de forma local en industria y academia ha impulsado el desarrollo de dispositivos a la medida que facilitan el diseño mecatrónico de sistemas de variado orden de complejidad. Uno de los campos favorecidos es la robótica, donde el diseño de efectores flexibles impulsa sistemas asistenciales para ajustarse a las necesidades del usuario y el agarre de gran variedad de objetos. Se presenta así el diseño e impresión de un efector robótico de dos dedos en ácido polilactico manipulable mediante actuadores servocontrolados mediante sistemas microcontrolados, logrando generar agarres de objeto semicirculares y circulares con una deformación cercana a los 2.5 mm.

Abstract (en)

Local 3D printing in industry and academia has driven development of tailored devices that facilitate mechatronic design systems of varying order of complexity. One of the favored fields is robotics, where design of flexible effectors drives assistive systems to adjust to the needs of the user and the grip of a wide variety of objects. Thus, design and printing of two-finger robotic effector in polylactic acid that can be manipulated by servo-controlled actuators using microcontrolled systems is presented, managing to generate semicircular and circular object grips with a deformation close to 2.5 mm.

References

Z. Hu, W. Wan and K. Harada, "Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers," in IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2981-2988, July 2019, doi: 10.1109/LRA.2019.2924129.

L. Berscheid, T. Rühr and T. Kröger, "Improving Data Efficiency of Self-supervised Learning for Robotic Grasping," 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 2125-2131, doi: 10.1109/ICRA.2019.8793952.

Y. Domae, A. Noda, T. Nagatani and W. Wan, "Robotic General Parts Feeder: Bin-picking, Regrasping, and Kitting," 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 5004-5010, doi: 10.1109/ICRA40945.2020.9197056.

J. H. Sanchez, W. Amanhoud, A. Billard and M. Bouri, "Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 12559-12566, doi: 10.1109/ICRA48506.2021.9561887..

S. Ainetter and F. Fraundorfer, "End-to-end Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB," 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 13452-13458, doi: 10.1109/ICRA48506.2021.9561398.

S. K. Rajput, A. Kaushal, R. K. Singh and A. K. Sharma, "A Study and Fabrication of SMA based 3D Printed Adaptive Gripper," 2021 Smart Technologies, Communication and Robotics (STCR), 2021, pp. 1-5, doi: 10.1109/STCR51658.2021.9588838.

C. Son and S. Kim, "A Shape Memory Polymer Adhesive Gripper For Pick-and-Place Applications," 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 10010-10016, doi: 10.1109/ICRA40945.2020.9197511.

S. D. Liyanage, A. M. Mazid and P. Dzitac, "An Innovative Whisker Tactile Sensor for Intelligent Robotic Grasping," IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society, 2021, pp. 1-6, doi: 10.1109/IECON48115.2021.9589765..

T. V. Prabhu, P. V. Manivannan, D. Roy and Yathishkumar, "A robust tactile sensor matrix for intelligent grasping of objects using robotic grippers," 2021 International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation (IRIA), 2021, pp. 400-405, doi: 10.1109/IRIA53009.2021.9588669.

G. Hwang, J. Park, D. S. D. Cortes, K. Hyeon and K. -U. Kyung, "Electroadhesion-Based High-Payload Soft Gripper With Mechanically Strengthened Structure," in IEEE Transactions on Industrial Electronics, vol. 69, no. 1, pp. 642-651, Jan. 2022, doi: 10.1109/TIE.2021.3053887.

J. Guo, J. -H. Low, X. Liang, J. S. Lee, Y. -R. Wong and R. C. H. Yeow, "A Hybrid Soft Robotic Surgical Gripper System for Delicate Nerve Manipulation in Digital Nerve Repair Surgery," in IEEE/ASME Transactions on Mechatronics, vol. 24, no. 4, pp. 1440-1451, Aug. 2019, doi: 10.1109/TMECH.2019.2924518.

C.I. Basson, G. Bright y A.J. Walker. “Testing flexible grippers for geometric and surface grasping conformity in reconfigurable assembly systems.” En: South African Journal of Industrial Engineering, vol. 29, no. 1, 2018, 128 -142.

Festo AG & Co.KG. “MultiChoiceGripper”. En: Variable gripping based on human hand (2018).

Ultimaker, “Introducing the new Ultimaker method”. https://ultimaker.com/es/software/ultimaker-cura

How to Cite

APA

Castillo, C., Jiménez, R., and Martínez, J. (2023). Impresión 3D para efectores flexibles. Visión electrónica, 17(1). https://revistas.udistrital.edu.co/index.php/visele/article/view/18958

ACM

[1]
Castillo, C. et al. 2023. Impresión 3D para efectores flexibles. Visión electrónica. 17, 1 (Jan. 2023).

ACS

(1)
Castillo, C.; Jiménez, R.; Martínez, J. Impresión 3D para efectores flexibles. Vis. Electron. 2023, 17.

ABNT

CASTILLO, Catalina; JIMÉNEZ, Robinson; MARTÍNEZ, Javier. Impresión 3D para efectores flexibles. Visión electrónica, [S. l.], v. 17, n. 1, 2023. Disponível em: https://revistas.udistrital.edu.co/index.php/visele/article/view/18958. Acesso em: 17 jul. 2024.

Chicago

Castillo, Catalina, Robinson Jiménez, and Javier Martínez. 2023. “Impresión 3D para efectores flexibles”. Visión electrónica 17 (1). https://revistas.udistrital.edu.co/index.php/visele/article/view/18958.

Harvard

Castillo, C., Jiménez, R. and Martínez, J. (2023) “Impresión 3D para efectores flexibles”, Visión electrónica, 17(1). Available at: https://revistas.udistrital.edu.co/index.php/visele/article/view/18958 (Accessed: 17 July 2024).

IEEE

[1]
C. Castillo, R. Jiménez, and J. Martínez, “Impresión 3D para efectores flexibles”, Vis. Electron., vol. 17, no. 1, Jan. 2023.

MLA

Castillo, Catalina, et al. “Impresión 3D para efectores flexibles”. Visión electrónica, vol. 17, no. 1, Jan. 2023, https://revistas.udistrital.edu.co/index.php/visele/article/view/18958.

Turabian

Castillo, Catalina, Robinson Jiménez, and Javier Martínez. “Impresión 3D para efectores flexibles”. Visión electrónica 17, no. 1 (January 30, 2023). Accessed July 17, 2024. https://revistas.udistrital.edu.co/index.php/visele/article/view/18958.

Vancouver

1.
Castillo C, Jiménez R, Martínez J. Impresión 3D para efectores flexibles. Vis. Electron. [Internet]. 2023 Jan. 30 [cited 2024 Jul. 17];17(1). Available from: https://revistas.udistrital.edu.co/index.php/visele/article/view/18958

Download Citation

Visitas

50

Downloads

Download data is not yet available.

License

Copyright (c) 2023 Visión electrónica

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

Attribution-NonCommercial 4.0 International

 

Most read articles by the same author(s)