3 accepted papers
Robots can grasp, even manipulate, objects with different shape, weight and size thanks to the their end-effectors. These are mostly constituted by two fingers, and are known as grippers. However, despite being quite simple for human beings, manipulation is not so straightforward to carry out on rob…
Mechanical systems are typically composed of a number of contacting surfaces that move against each other. Such surfaces are subject to friction forces. These dissipate part of the actuation energy and cause an undesired effect on the overall system functioning. Therefore, a suitable model of fricti…
Robotic arms can perform grasping actions thanks to their “dexteorus” part, i.e. the gripper. Among the various categories, nowadays pneumatic grippers became the most employed in industry, as they have low cost and little bulkiness. Despite their simplicity, controlling the force applied by these g…