Abstract
As the range of applications of robots expanded, they began to be used for complex assemblies such as screw fastening and pin assembly. Most specialized screw fastening tools are sensitive to external influences and require additional instruments to prevent screw dislodgement when working in unstructured environments. To address this challenge, we propose a screw fastening gripper (SFG) capable of screw fastening and small pin gripping with a single power source. The proposed SFG is divided into a fastening part for screw fastening and a gripper for grasping, with power distributed via a magnetic gear. It is designed to temporarily separate the gripper and fastener using the magnetic gear’s features, so it can be used to fasten screws of various lengths if necessary. Through gripping force measurements and screw fastening experiments, the proposed SFG showed sufficient performance in grasping and screw fastening.
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This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20018188).
Ji-Hun Meng received his B.S. degree in mechanical engineering from Korea University in Seoul, Korea, in 2019. He is currently a Ph.D. candidate in mechanical engineering at Korea University. His research interests include manipulator design, gripper design, and collaborative robot arms.
Inhwan Yoon received his B.S. degree in mechanical engineering from Sogang University in Seoul, Korea, in 2019. He is currently a Ph.D. candidate in mechatronics at Korea University. His research interests include manipulator control, robotic assembly, and AI-based robot applications.
Sung-Jae Park received his B.S. degree in mechanical engineering from Korea University in Seoul, Korea, in 2019. He is currently a Ph.D. candidate in the mechanical engineering at Korea University. His research interests include gripper design and tool changer design.
Jae-Bok Song received his B.S. and M.S. degrees in mechanical engineering from Seoul National University in Seoul, Korea, in 1983 and 1985, respectively. He received his Ph.D. degree in mechanical engineering from M.I.T. in 1992. He is a professor in the Department of Mechanical Engineering in Korea University since 1993. His research interests include robot design and control, and AI-based robot applications. He is a senior member of IEEE.
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Meng, JH., Yoon, I., Park, SJ. et al. A Gripper Capable of Screw Fastening and Gripping With a Single Driving Source. Int. J. Control Autom. Syst. 22, 2882–2890 (2024). https://doi.org/10.1007/s12555-023-0859-8
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DOI: https://doi.org/10.1007/s12555-023-0859-8