Intelligent Power Grasp Through Layered Magnetization by A Serial Arm Field Robot Pages

Field applications of serial-arm static robotic system for material handling operations pose serious technological challenges under unstructured environments, in contrast to the same in situations with known perspectives of the obstacles therein. The present paper describes the design, analysis and development of a novel magnetic gripper, along with its sensorized peripherals, deployed in a non-coherent unstructured workspace. The prototype gripper was augmented with a four degrees-of-freedom SCARA type industrial robot and the field-unit was programmed to perform the intended operation of handling steel bearing races of various categories round-the-clock. The robotic cell was equipped with multiple sensors, hardware interfaces and safety measures (e.g. electronic light barrier), designed indigenously. The paper also analyses the performance of the magnetic gripper in the field through mathematical model, pertaining to this maiden application of robotics in Indian steel industries.