Manipulation of large plates with Underactuated cable-driven parallel robots and electro-adhesive grippers

Project Description

Cable-driven parallel robots use cables instead of rigid links to move an operating tool in space. They are underactuated when fewer cables than the end-effector degrees of freedom are used. On one hand, their workspace is highly accessible, on the other only the position of the end-effector can be precisely controlled. This project aims at developing a manipulation strategy leveraging underactuated robots’ intrinsic flexibility so that large plates can be grasped with an electro-adhesive gripper. To achieve this, the robot tool needs to be placed in contact with the object to be manipulated through a hybrid position-force control.

Prerequisites

• Sound knowledge of basic mathematics
• Sound knowledge of basic robotics
• Basic knowledge of electrotechnics
• Strong initiative and attitude problem solving
• Strong will to cope with demanding challenges

Target Objectives

• Improve knowledge about complex robotic systems (Cable-Driven parallel robots)
• Acquire competence in the designing of an industrial robot end-effector
• Acquire knowledge of the electroadhesion phenomenon and its applicability in practical engineering fields

Expected Results

• Development of a strategy for the correct grasping of an object with an electro-adhesive gripper

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