Design of robotic hands and grippers for underwater ...persone.dii.unile.it/indiveri/ISME-2015/Home_files... · underwater manipulation tasks Claudio Melchiorri DEI – Department

ISME

January 11, 2016

Design of robotic hands and grippers for underwater manipulation tasks

Claudio Melchiorri DEI – Department of Electrical, Electronic and Information Engineering

University of Bologna, Italy

Summary

l Hands for underwater applications

l UAV (Sherpa)

L'Ateneo, in attuazione degli articoli 3 e 34 della Costituzione della Repubblica Italiana, si adopera affinché il pieno esercizio del diritto allo studio non sia impedito da ostacoli di ordine economico e sociale e affinché l'impegno e il merito siano costantemente riconosciuti e premiati. Statuto di Ateneo, Principi di indirizzo, Art. 2 comma 1

Robot Hands

4

L.A.R. - Group Expertise

l The research group in robotics is active since the early 80’s, with interdisciplinary competencies (automatic control, mechanics, hw/sw design, computer science, motion control)

l About 35-40 researchers (staff, post-doc, PhD students) l Several robotic prototypes have been designed and realized: grippers,

articulated hands, mobile robots, serial/parallel manipulators, telemanipulation systems, haptic devices, biomedical robots, UAVs, sensors, actuators, hw/sw control systems, …

UB Robotic Hands/Grippers: Designed for a number of applications

Some of them are reference in the research community

Robot Hands

•  1986-1990: UBH 1

UB Hands: a short history

•  1986-1990: UBH 1 •  1992-1995: UBH 2

UB Hands: a short history

•  1986-1990: UBH 1 •  1992-1995: UBH 2

UB Hands: a short history

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper

UB Hands: a short history

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3

UB Hands: a short history

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3 •  2008-2012: UBH 4

(Dexmart)

UB Hands: a short history

UBH4: sensors

Force (tension) sensors Position sensors

Tactile sensors

In cooperation with SUN – Seconda Università di Napoli (C. Natale, S. Pirozzi, G. De Maria)

All the sensors are based on the same technology: optoelectronics

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3 •  2008-2012: UBH 4 •  2010-2012: TRIDENT

Gripper

UB Hands: a short history

Tactile sensors

Each sensor: 1 dof

3 sensors for each fingertip

Based on on optoelectronic components: •  low power •  low noise •  simplified electronics •  simple installation

Photodetector

LED

Tactile sensors

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3 •  2008-2012: UBH 4 •  2010-2012: TRIDENT •  2013-2014: MARIS 1

UB Hands: a short history

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3 •  2008-2012: UBH 4 •  2010-2012: TRIDENT •  2013-2014: MARIS 1 •  2014-2015: MARIS 2

UB Hands: a short history

BaseConnettore

RS

Cover

Flessibi

PCB

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3 •  2008-2012: UBH 4 •  2010-2012: TRIDENT •  2013-2014: MARIS 1 •  2014-2015: MARIS 2

UB Hands: a short history

linear

sensorobject

load ce

linearmotor 1

motor 2

6-axis F/T sensor: •  fingertip •  wrist

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3 •  2008-2012: UBH 4 •  2010-2012: TRIDENT •  2013-2014: MARIS 1 •  2014-2015: MARIS 2 •  2015- … : DexGrip

UB Hands: a short history

•  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper •  2002-2005: UBH 3 •  2008-2012: UBH 4 •  2010-2012: TRIDENT •  2013-2014: MARIS 1 •  2014-2015: MARIS 2 •  2015- … : DexGrip

UB Hands: a short history

Control aspects

(Low-level) control challenges are generated by the following aspects:

•  Structural compliance •  Soft pads •  Compliant joints •  Tendons •  Actuation systems

•  Friction •  Joints •  Tendon path

•  Actuation/Transmission system •  Nonlinear motion/force transmission system •  Tendon net (N+1) •  Actuation/Joint/Workspace mapping

Other control aspects

Control challenges: •  Contact point modelling (friction, …)

•  Grasp configuration (e,g. optimization of contact positions)

•  Manipulation

•  Hand/Arm coordination

•  Interaction with human beings

•  …

Other control aspects

In cooperation with UNINA – F. Ficuciello, B. Siciliano

Hand/Arm coordination

www.sherpa-project.eu

Sherpa - Logo A01sHere is a c i rcular logo elaborated from the Kant ipur (Sherpa language) t ransl i terat ion of the let ter “s” :

By rotat ing i t , you can see the si louhette of a mountain emerging under blue skyes.

Search and rescue in unfriendly and possibly hostile

environments, like the ones in which civil protection, alpine rescuers and forest guards

usually operate

Features: •  Unstructured environments

•  Severe operative conditions (weather, terrain,..) •  Presence of human (rescuer) often “focused” on demanding tasks

•  Team (Human & Machine) capabilities •  Emotional aspects

SHERPA in Short SHERPA

The SHERPA animals

Patrolling  hawks  

Busy  Genius  

Intelligent  donkey  

Trained  wasps  

The SHERPA wasp

Ulisse        (Rai  3)  

Other  Aerial  ConfiguraAons  

Dimensions 900 x 900 mm MTOW 6 kg Installed Power 2100 W Motors BCM450 Propellers 15 x 4 Climb rate 6 m/s Lateral speed 15 m/s Rate of turn 60 deg/s Max altitude 13000 ft Operating range 1000 m Temperature range -10 ÷ 35 °C Payload: up to 2 Kg Max wind speed 30 kts

Esacopter

ApplicaAon:  3D  reconstrucAon