Object Dimension and Location Determination in Gantry Robots and Conveyor Systems: A Review Hayder Saadi, Nazar kais ALKARKHI, Wisam Abbood, Somer Nacy Al Khwarizmi Engineering Journal, 2025 A gantry robot is one of the most common types of industrial robots with linear movement. This type of robot is also known as a Cartesian or linear robot. It is an automated industrial system that moves along linear paths, enabling it to create a 3D envelope of the space in which it operates. A robot of this type has a standardised configuration process because it can have several sets of axes, such as X, Y and Z. The gantry robot picks up products from several places, so it can search through various locations. Afterwards, it carefully deposits the products on a conveyor belt for the next stage of the procedure or final shipment. This integration enables continuous and automated material flow, increasing overall productivity and efficiency in manufacturing operations. Dimension measuring and object placement are critical tasks in robot and conveyor systems that depend substantially on the types of sensors. Progress in sensors and camera technologies has markedly enhanced precision, efficacy, productivity and adaptability. Sensors are commonly classified as range and vision sensors on the basis of their mode of measurement. This review article offers useful knowledge on gantry robots and conveyor systems and their historical background. It examines recent research that has reported on the advantages and disadvantages of gantry robots. Moreover, literature on object dimensioning and positioning via sensors and cameras in gantry robots is presented. This review elucidates the advantages and disadvantages of several sensing types, including cameras and conventional sensors. Comparisons of robotic systems in terms of accuracy, speed, cost, energy efficiency and other aspects are also performed. Many studies have been conducted on body detection via vision technology and sensors, but the use of laser sensors has received minimal attention and needs further focus in the future.
A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media Osamah Fakhri, George Youssef, Somer Nacy, Adnan Naji Jameel Al-Tamimi, O. Hussein, et al. Electronics Switzerland, 2023 A systematic approach is presented to achieve the stable grasping of objects through a two-finger robotic hand, in which each finger cavity was filled with granular media. The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torque and vacuum pressure. The two-finger robotic hands can be further improved for applications that require high load-carrying capabilities.
Intelligent Robotic Welding Based on a Computer Vision Technology Approach Nazar Kais AL-Karkhi, Wisam T. Abbood, Enas A. Khalid, Adnan Naji Jameel Al-Tamimi, Ali A. Kudhair, et al. Computers, 2022 Robots have become an essential part of modern industries in welding departments to increase the accuracy and rate of production. The intelligent detection of welding line edges to start the weld in a proper position is very important. This work introduces a new approach using image processing to detect welding lines by tracking the edges of plates according to the required speed by three degrees of a freedom robotic arm. The two different algorithms achieved in the developed approach are the edge detection and top-hat transformation. An adaptive neuro-fuzzy inference system ANFIS was used to choose the best forward and inverse kinematics of the robot. MIG welding at the end-effector was applied as a tool in this system, and the weld was completed according to the required working conditions and performance. The parts of the system work with compatible and consistent performances, with acceptable accuracy for tracking the line of the welding path.
A real-time automated sorting of robotic vision system based on the interactive design approach Wisam T. Abbood, Oday I. Abdullah, Enas A. Khalid International Journal on Interactive Design and Manufacturing, 2020 This research paper presents the proposes a robotic vision system to distinguish the color for the object and his position coordinate, and then sort the object (product) on the right branch conveyor belt according to color in real-time. The system was built based on the HVS mode algorithm for sorting product based on color. Furthermore, the system can be distinguished the object shape and then find his position to picking the object shape and putting on the right branch conveyor belt. The assumptions for the object shape were based on the shape properties, centroid algorithm, and border extraction. Both the object detection and the contour coordinate extraction methods are implemented using a series of image processing techniques. The main goal is met by sorting the object depends on the color feature from a gathering of objects. The robot movement (open and close griper, move up and down the arm, and move to the left and right) controlled by a microcontroller that controls the movement to the right branch conveyor belt. When the color or the object is detected, the microcontroller will initiate the actions of the robot. It was found that the accuracy of results based on the approach that developed in this paper which is 92% for shape sorting and 97% for colors sorting objects.
Real-time control of robotic hand by human hand at low cost Journal of Mechanical Engineering Research and Developments, 2020
Development of Automated Liquid Filling System Based on the Interactive Design Approach Oday Abdullah, Wisam Abbood, Hiba Hussein Fme Transactions, 2020 The automatic liquid filling system is used in different applications such as production of detergents, liquid soaps, fruit juices, milk products, bottled water, etc. The automatic bottle filling system is highly expensive. Where, the common filling systems required to complex changes in hardware and software in order to modify volume of liquid. There are many important variables in the filling process such as volume of liquid, the filling time, etc. This paper presents a new approach to develop an automatic liquid filling system. The new proposed system consists of a conveyor subsystem, filling stations, and camera to detect the level of the liquid at any instant during the filling process. The camera can detect accurately the level of liquid based on the imaging process technique (Edge Detection Approach). In order to achieve the aim of this work, Arduino board is used as the controller unit in the automatic operation of developed filling system. The developed automatic liquid filling system is designed to be not expensive compared to the other available filling systems on the markets. The system is also easy to operate and user-friendly,where only simple steps are required to operate the filling system or modify the working condition.It was found, based on results, that the Prewitt edge detection is the optimal method that should be applied to obtain high accuracy of results and quick response of developed system.
ASTM F75 Alloys: A Systematic Review of Microstructural Characteristics and Manufacturing Advances from Conventional to Laser-Based Techniques with Bibliometric Analysis RA Al-Aloosi, WT Abbood, EA Khalid, WS Abd Al-Sahb, NK Al-Karkhi, ... ASEAN Journal for Science and Engineering in Materials 6 (1), 57-78 , 2027 2027
Object Dimension and Location Determination in Gantry Robots and Conveyor Systems: A Review H Saadi, N kais ALKARKHI, W Abbood, S Nacy Al-Khwarizmi Engineering Journal 21 (4), 106-124 , 2025 2025
Grasping Stability of a Robotic Gripper with Frictional Self-Locking Mechanism S Nacy, WT Abbood, NK AL-Karkhi, MH Tolephih, OI Abdullah Intelligent Service Robotics 18 (4), 763-773 , 2025 2025
A systematic approach to stable grasping of a two-finger robotic hand activated by jamming of granular media O Fakhri, G Youssef, S Nacy, AN Jameel Al-Tamimi, O Hussein, ... Electronics 12 (8), 1902 , 2023 2023 Citations: 6
Intelligent robotic welding based on a computer vision technology approach NK Al-Karkhi, WT Abbood, EA Khalid, AN Jameel Al-Tamimi, AA Kudhair, ... Computers 11 (11), 155 , 2022 2022 Citations: 17
Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring WT Abbood, SM Nacy, G Youssef, OI Abdullah Intelligent service robotics 15 (3), 275-287 , 2022 2022 Citations: 4
Study the Response Of The Wind Turbine System under Realistic Working Conditions Using Simulink OI Abdullah, A Alhamadani, WT Abbood IOP Conference Series: Materials Science and Engineering 928 (2), 022048 , 2020 2020 Citations: 4
Real-Time Control of Robotic Hand by Human Hand at Low Cost EA Khalid, WT Abbood, OI Abdullah Journal of Mechanical Engineering Research and Developments 43 (3), 455-467 , 2020 2020 Citations: 4
A real-time automated sorting of robotic vision system based on the interactive design approach WT Abbood, OI Abdullah, EA Khalid International Journal on Interactive Design and Manufacturing (IJIDeM) 14 (1 … , 2020 2020 Citations: 51
Development of automated liquid filling system based on the interactive design approach OI Abdullah 2020 Citations: 33
Industrial Tracking Camera and Product Vision Detection System WT Abbood, HK Hussein, OI Abdullah Journal of Mechanical Engineering Research and Developments 42 (4), 277-280 , 2019 2019 Citations: 10
Tendon type robotic gripper with frictional self-locking mechanism S Nacy, W Abbood, K Dermitzakis International Journal of Applied Engineering Research 13 (19), 14393-14401 , 2018 2018 Citations: 4
Automated Surface Defect Detection using Area Scan Camera SM Nacy, WT Abbood innovative systems design and engineering 4 (8), 2222-1727 , 2013 2013 Citations: 9
MOST CITED SCHOLAR PUBLICATIONS
A real-time automated sorting of robotic vision system based on the interactive design approach WT Abbood, OI Abdullah, EA Khalid International Journal on Interactive Design and Manufacturing (IJIDeM) 14 (1 … , 2020 2020 Citations: 51
Development of automated liquid filling system based on the interactive design approach OI Abdullah 2020 Citations: 33
Intelligent robotic welding based on a computer vision technology approach NK Al-Karkhi, WT Abbood, EA Khalid, AN Jameel Al-Tamimi, AA Kudhair, ... Computers 11 (11), 155 , 2022 2022 Citations: 17
Industrial Tracking Camera and Product Vision Detection System WT Abbood, HK Hussein, OI Abdullah Journal of Mechanical Engineering Research and Developments 42 (4), 277-280 , 2019 2019 Citations: 10
Automated Surface Defect Detection using Area Scan Camera SM Nacy, WT Abbood innovative systems design and engineering 4 (8), 2222-1727 , 2013 2013 Citations: 9
A systematic approach to stable grasping of a two-finger robotic hand activated by jamming of granular media O Fakhri, G Youssef, S Nacy, AN Jameel Al-Tamimi, O Hussein, ... Electronics 12 (8), 1902 , 2023 2023 Citations: 6
Dynamic performance of a series elastic actuator with variable stiffness logarithmic spiral spring WT Abbood, SM Nacy, G Youssef, OI Abdullah Intelligent service robotics 15 (3), 275-287 , 2022 2022 Citations: 4
Study the Response Of The Wind Turbine System under Realistic Working Conditions Using Simulink OI Abdullah, A Alhamadani, WT Abbood IOP Conference Series: Materials Science and Engineering 928 (2), 022048 , 2020 2020 Citations: 4
Real-Time Control of Robotic Hand by Human Hand at Low Cost EA Khalid, WT Abbood, OI Abdullah Journal of Mechanical Engineering Research and Developments 43 (3), 455-467 , 2020 2020 Citations: 4
Tendon type robotic gripper with frictional self-locking mechanism S Nacy, W Abbood, K Dermitzakis International Journal of Applied Engineering Research 13 (19), 14393-14401 , 2018 2018 Citations: 4
ASTM F75 Alloys: A Systematic Review of Microstructural Characteristics and Manufacturing Advances from Conventional to Laser-Based Techniques with Bibliometric Analysis RA Al-Aloosi, WT Abbood, EA Khalid, WS Abd Al-Sahb, NK Al-Karkhi, ... ASEAN Journal for Science and Engineering in Materials 6 (1), 57-78 , 2027 2027
Object Dimension and Location Determination in Gantry Robots and Conveyor Systems: A Review H Saadi, N kais ALKARKHI, W Abbood, S Nacy Al-Khwarizmi Engineering Journal 21 (4), 106-124 , 2025 2025
Grasping Stability of a Robotic Gripper with Frictional Self-Locking Mechanism S Nacy, WT Abbood, NK AL-Karkhi, MH Tolephih, OI Abdullah Intelligent Service Robotics 18 (4), 763-773 , 2025 2025
