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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Grahic Jump Location
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
Grahic Jump Location
Mail sacks are large and have no operator interface such as handles or gripping devices
Grahic Jump Location
The basic underlying principle of operation of the end-effector
Grahic Jump Location
A perspective view of the experimental prototype end-effector that has the basic functional characteristics depicted by Fig. 3
Grahic Jump Location
The operational phases of the end-effector as a function of the states of three control signals
Grahic Jump Location
Three relays are wired with switches and sensors to create the behavior described in table of Fig. 5
Grahic Jump Location
A proximity sensor is installed on the end-effector to indicate the nearness of the sack to the end-effector
Grahic Jump Location
A switch issues a signal when enough sack material has been collected in between the rollers
Grahic Jump Location
The contact forces and friction forces between the rollers and sack when the sack is held in between the rollers
Grahic Jump Location
A roller in its initial engagement with the sack
Grahic Jump Location
Pressure profile on the roller




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