Modeling and Analysis of a High-Speed Adjustable Grasping Robot Controlled by a Pneumatic Actuator

Abstract

This paper discusses the modeling and analysis of a high-speed adjustable grasping robot controlled by a pneumatic actuator. The robot is composed of two grippers, two wires for connecting a pneumatic cylinder and an arm with gripper joints with a spring as well as two stoppers for controlling the gripper stopping point with a brake. By supplying pressurized air into the pneumatic cylinder, the two grippers move forward together with the arm and capture the object by adjusting the air pressure in the cylinder. After capturing the target object, the system can release the object by changing the pressure air in the air cylinder using another port. By considering the state equation of the air, we obtain a dynamic model of the robot, including the actuator. Through numerical simulation, we show that the simulation results can explain the experimental results from the developed robot system. Through our experiments, we confirm that the developed high-speed grasping robot can grasp continuously moving objects with a gap of ±15 mm at 300 mm/s.