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TECHNICAL PAPERS

A Practical Robotic End-Effector for Grasping Postal Sacks

[+] Author and Article Information
H. Kazerooni

University of California at Berkeley, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 126(1), 154-161 (Apr 12, 2004) (8 pages) doi:10.1115/1.1649981 History: Revised August 08, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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References

Figures

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An example of a USPS Distribution Center in Northern California where thousands of sacks are unloaded off a large slide and either emptied directly onto conveyor belts, or loaded onto carts by hand
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Mail sacks are large and have no operator interface such as handles or gripping devices
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The basic underlying principle of operation of the end-effector
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A perspective view of the experimental prototype end-effector that has the basic functional characteristics depicted by Fig. 3
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The operational phases of the end-effector as a function of the states of three control signals
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Three relays are wired with switches and sensors to create the behavior described in table of Fig. 5
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A proximity sensor is installed on the end-effector to indicate the nearness of the sack to the end-effector
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A switch issues a signal when enough sack material has been collected in between the rollers
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The contact forces and friction forces between the rollers and sack when the sack is held in between the rollers
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A roller in its initial engagement with the sack
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Pressure profile on the roller

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