The mechanical and control system design of a dexterous robotic gripper

Author

Seguna, C.M. ; Saliba, M.A.

Author_Institution

Dept. of Manuf. Eng., Univ. of Malta, Malta

Volume

3

fYear

2001

fDate

6/23/1905 12:00:00 AM

Firstpage

1195

Abstract

The design and development of dexterous robotic end effectors has been an active research area for a long while. This paper reviews the design and construction of a versatile robotic gripper used to grasp objects of arbitrary shape, size and weight. This is achieved through a mechanical design that incorporates multiple fingers and multiple joints per finger, through the installation of proximity and force sensors on the gripper, and through the employment of an innovative and practical control system architecture for the gripper components. The gripper is installed on a standard six degree-of-freedom industrial robot, and the gripper and robot control programs are integrated in a manner that allows easy application of the gripper in an industrial pick-and-place operation where the characteristics of the object can vary or are unknown

Keywords

dexterous manipulators; industrial manipulators; control system; dexterous robotic gripper; end effector; force sensor; industrial robot; mechanical system; pick-and-place operation; proximity sensor; Control systems; Electrical equipment industry; Employment; End effectors; Fingers; Force sensors; Grippers; Industrial control; Robot sensing systems; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Circuits and Systems, 2001. ICECS 2001. The 8th IEEE International Conference on

Print_ISBN

0-7803-7057-0

Type

conf

DOI

10.1109/ICECS.2001.957430

Filename

957430