Design and fabrication of three finger adaptive gripper

2nd International conference on Advances in Mechanical Engineering

Kaviyarasan, S.^1 ; Infanta Mary Priya, I.^1

Department of Mechanical Engineering, SRM Institute of Science and Technology, kattankulathur

603203, India^1

关键词: 3-D printing;    Adaptive Control;    Adaptive grippers;    Force sensing;    Force sensing resistor;    Mean maximums;    Precise control;    Resistance change;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/402/1/012043/pdf
DOI  :  10.1088/1757-899X/402/1/012043

来源: IOP

【 摘 要 】

The primary aim of implanting the robot is to reduce the human effort. Gripping of objects has been a difficult task for robots. The challenge during gripping would be to assume object and pick it [1]. In this paper, adaptive gripper has the capabilities with this dexterous adaptive electric gripper. Three fingers grippers mean maximum versatility and fixable adaptive control [3]. Its hands as wide variety of part geometrics and size. Its precise control interface allows straight forward control the finger position, speed and force or pressure. These fingers produced by 3D printing and fingers are analyzed to check if the finger is flexible. The force is measured using a force sensing resister (FSR) [7]. A force sensing resistor is a material whose resistance changes when force is applied. Arduino controller is used for controlling the gripping action. This Control loop feedback mechanism is widely used for precise control [12]. Controlled gripper finger is sensed and gripped with adaptive force which is being analyzed in this paper. Keywords: Adaptive, Fixable, force sensor, feedback.