Design -and Experimental Analysis of a Force Sensitive Gripper for Safe Robot Applications

2019 7th International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2019-11-01 DOI:10.1109/ICRoM48714.2019.9071887

A. Saboukhi, M. Gorji, E. Amirpour, M. Savabi, Rasul Fesharakifard, H. Ghafarirad, S. M. Rezaei

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Abstract

In order to obtain haptic interaction with precise force feedback from the environment, for an exoskeleton, a robotic 2-jaw gripper is proposed. To reach this goal, a gripper is designed based on optimizing the link lengths to maximize the amount of weight that the gripper could hold and built with parallel jaws and two Force Sensitive Resistor (FSR) sensors for measuring the force applied on the jaws. The gripper is used as an end effector for a palletizing 3-DOF robotic arm and is interfaced to a computer using an Arduino board. The FSRs are both calibrated before object grasping, and as a result, the force exerted on each jaw while grasping objects is obtained. This data is consequently used to achieve four goals: detect an object presence, prevent the object from being damaged during grasp, evaluate the object weight through the coefficient of friction and obtain safe haptic feedback for a master exoskeleton (HEXON11Hand Exoskeleton of New technologies research center). The experimental results are provided within the mechanism relations and numerical simulation to validate the desired tasks.

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安全机器人力敏夹持器的设计与实验分析

为了获得与环境的精确力反馈的触觉交互，提出了一种外骨骼机器人双爪抓取器。为了实现这一目标，设计了一种基于优化连杆长度的夹持器，以最大限度地增加夹持器的重量，并采用平行夹持器和两个力敏电阻(FSR)传感器来测量施加在夹持器上的力。该夹具用作码垛3自由度机械臂的末端执行器，并使用Arduino板与计算机接口。在抓取物体之前，对fsr进行了标定，从而获得了抓取物体时各下颚所受的力。因此，这些数据被用于实现四个目标:检测物体的存在，防止物体在抓取过程中被损坏，通过摩擦系数评估物体的重量，并获得主外骨骼的安全触觉反馈(HEXON11Hand exoskeleton of New technologies research center)。在机理关系和数值模拟中给出了实验结果，验证了预期的任务。

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2019 7th International Conference on Robotics and Mechatronics (ICRoM)

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