Abstract
This paper presents the design of an end-effector for handling of supplies commonly found in chemistry labs. The system uses a cable loop capable of providing an effective grasp of any prismatic or cylindrical object, making it ideal for handling vials and other containers commonly used in laboratories. When compared to the more common parallel jaw gripper design, the proposed cable based end-effector is able to handle a larger variety of objects without interfering with the surrounding objects even in a crowded environment (minimal footprint). The payload capability of the gripper have been tested on a load test apparatus with different materials, demonstrating its effectiveness.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
King, R.D., et al.: Towards robot scientists for autonomous scientific discovery. Automated Experiment. 2, 1–11 (2010). https://doi.org/10.1186/1759-4499-2-1
Pan, J.: Engineering chemistry innovation. ACS Med. Chem. Lett. 10(5), 703–707 (2019). https://doi.org/10.1021/acsmedchemlett.9b00096
Tai, K., El-Sayed, A., Shahriari, M., Biglarbegian, M., Mahmud, S.: State of the art robotic grippers and applications. Robotics 5(2), 1–20 (2016). https://doi.org/10.3390/robotics5020011
Vysocky, A., Novak, P.: Human - robot collaboation in industry. MM Sci. J. 2016, 1066–1072 (2016). https://doi.org/10.17973/MMSJ.2016_10_201640
Wade-McCue, S., et al.: Design of a Multi-Modal End-Effector and Grasping System: How Integrated Design helped win the Amazon Robotics Challenge (2017)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Manes, L., Fichera, S., Marquez-Gamez, D., Cooper, A.I., Paoletti, P. (2020). A Cable-Based Gripper for Chemistry Labs. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_42
Download citation
DOI: https://doi.org/10.1007/978-3-030-63486-5_42
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-63485-8
Online ISBN: 978-3-030-63486-5
eBook Packages: Computer ScienceComputer Science (R0)