Robotized Montage Unit which Uses an Anthropomorphic Gripper with Five Fingers: CAD Modelling and Simulation

Abstract:

This paper presents an original integrated solution of montage robotization of assemblies of small and medium complexity. The robotic station (the robotized cell) proposed contains a joint industrial robot equipped with an anthropomorphic gripper with five fingers, two feeders, a montage table and a storage terminal. CAD modelling of the whole system and functional simulation are performed, which certifies the validity of its correct operation. The gripper used is anthropomorphic with five fingers and five degrees of freedom with a relatively simple structure but high functionality. The gripper, adapted by a popular variant is realized as prototype at low cost, through rapid prototyping, and tested. The gripper control is possible through the advanced method of human hand gestures capture with a Motion Leap device and their transmission through a virtual interface to the real gripper. In perspective, it is considered mounting the gripper in an improved variant, on a real robot and testing the operation of the proposed montage scenario.

• Periodical: Applied Mechanics and Materials (Volume 656)
• Pages: 146-153
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.656.146
• Online since: October 2014
• Authors: Sebastian Jitariu, Ionel Staretu*, Catalin Moldovan
• Keywords: Anthropomorphic Gripper, CAD Simulation, Prototype, Robotized Cell, Robotized Montage

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