Grasping analysis for a 3-Finger Adaptive Robot Gripper

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI:10.1109/ROMA.2016.7847806

A. S. Sadun, J. Jalani, F. Jamil

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引用次数: 17

Abstract

A 3-Finger Adaptive Robot Gripper is an advanced robotic research that provides a robotic hand-like capabilities due to its flexibility and versatility. However, the grasping performance has to be analyzed and monitored based on the motor encoder, motor current, and force feedback so that the finger position and grasping force can be effectively controlled. This paper provides an open-loop grasping analysis for a 3-Finger Adaptive Robot Gripper. A series of grasping tests has been conducted to demonstrate the robot capabilities and functionalities. Different stiffness levels of the grasped objects have been chosen to demonstrate the grasping ability. In the experiment, a Modbus RTU protocol and Matlab/Simulink are used as communication and control platform. A specially modified interlink FSR sensor is proposed where a special plastic cover has been developed to enhance the sensor sensitivity. The Arduino IO Package is employed to interface the sensor and Matlab/Simulink. The results show that the significant relationships between finger position, motor current, and force sensor are found and the results can be used for a proper grasping performance.

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三指自适应机械手抓取分析

三指自适应机器人抓手是一项先进的机器人研究，由于其灵活性和多功能性，它提供了类似机器人手的能力。但是，必须基于电机编码器、电机电流和力反馈对抓取性能进行分析和监测，才能有效地控制手指的位置和抓取力。本文对一种三指自适应机器人夹持器进行了开环抓取分析。进行了一系列抓取测试，以展示机器人的能力和功能。选择不同刚度水平的抓取对象来展示抓取能力。实验采用Modbus RTU协议和Matlab/Simulink作为通信和控制平台。提出了一种特殊改进的互连FSR传感器，其中开发了一种特殊的塑料外壳，以提高传感器的灵敏度。采用Arduino IO Package作为传感器与Matlab/Simulink的接口。结果表明，手指位置、电机电流和力传感器之间存在显著的关系，该结果可用于合理的抓取性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)

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