English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Applying suction grippers in unstructured environments is a challenging taskbecause of depth and tilt errors in vision systems, requiring additional costsin elaborate sensing and control. To reduce additional costs, suction gripperswith compliant bodies or mechanisms have been proposed; however, theirbulkiness and limited allowable error hinder their use in complex environmentswith large errors. Here, we propose a compact suction gripper that can pickobjects over a wide range of distances and tilt angles without elaboratesensing and control. The spring-inserted gripper body deploys and conforms todistant and tilted objects until the suction cup completely seals with theobject and retracts immediately after, while holding the object. This seamlessdeployment and retraction is enabled by connecting the gripper body and suctioncup to the same vacuum source, which couples the vacuum picking and retractionof the gripper body. Experimental results validated that the proposed grippercan pick objects within 79 mm, which is 1.4 times the initial length, and canpick objects with tilt angles up to 60{\deg}. The feasibility of the gripperwas verified by demonstrations, including picking objects of different heightsfrom the same picking height and the bin picking of transparent objects.

Compliant Suction Gripper with Seamless Deployment and Retraction for Robust Picking against Depth and Tilt Errors