Design and Simulation of Five Fingers Gripper for Dexterous Pick-Up Various of Components

Abstract:

In this paper, the authors describe and demonstrate how a Five fingered gripper can be designed and simulated to provide both gross motion and fine motion to the fingers. Satisfactory motion responses for the finger simulation are achieved. The fine motion including force feedback and the gross motions, which orientate the fingers into their approximate configuration is provided by an advance PID control strategy. The fingers are to be controlled in a manner which mimics the kinematics and dynamics of the five fingers of a human hand. This mimicry is required to design the correct motions necessary to handle engineering components. In order to evaluate the design philosophy and capability of the five fingered gripper, a challenging assembly process has been identified. The five fingered gripper assembly was built using Solidworks software tool, and it’s mechanical assembly representation was established in SimMechanics. The advance PID control is very effectively used to control the trajectory of the fingers. The simulation results have been demonstrated that the radius of finger movement is achieved in stable response. The signal error towards closed less than 1% which it indicates the response dynamic system response is stable.

• Periodical: Applied Mechanics and Materials (Volume 776)
• Pages: 325-330
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.776.325
• Online since: July 2015
• Authors: I. Wayan Widhiada*, Endra Pitowarno, C.G. Indra Partha, Yuda A.P. Wayan Reza
• Keywords: Fine Motion, Five Fingers Gripper, Gross Motion, PID Control

References

[1] Okada,T. Computer Control of Multi-jointed Finger System for Precise Object Handling, IEEE Trans. Syst., Man, Cybern, 1982, Vol. SMC-12, p.289–299.

DOI: 10.1109/tsmc.1982.4308818

[2] Salisbury J.K. and CRAIG, J. Force Control and Kinematic Issues, International Root. Res. Vol. 1, pp.4-17, (1982).

[3] Bekey, G., TOMOVIC, R. and ZELJKOVIC, I. Control Architecture for the Belgrade/USC Hand in Dextrous Robot Hands, New York: Springer-Verlag, pp.136-149, (1999).

DOI: 10.1007/978-1-4613-8974-3_7

[4] Jacobsen, S.C. Design of the Utah/MIT Dextrous Hand, Proc. IEEE Int. Conf. Robotics and Automation, San Francisco, CA, Vol. 3, p.1520–1532, (2001).

[5] Gazeau, J. Force and position control in the aim of the fine manipulation of objects., Proc. IEEE Int. Conf. Robotics and Automation, Seoul, Korea, Vol. 3, p.2642–2648, (2001).

[6] Bicchi Hands for Dexterous Manipulation and Robust Grasping, IEEE Transactions on Robotics and Automation, Vol. 16, No. 6, pp.652-662, (2000).

DOI: 10.1109/70.897777

[7] Kerr, J. and Roth,B. Analysis of Multi-fingered Hands, Int. Journal of Robotics Research, Vol. 4, No. 4, p.3–17, (1986).

[8] Zlajpah, L. Simulation in robotics, Mathematics and Computers in Simulation, Slovenia, Vol. 79, no. 4, (2008).

[9] Moler, C., The growth of MATLAB and The MathWorks over two decades. The MathWorks. com: News and Notes, Jan. (2010).

[10] W. Widhiada, S.S. Douglas, I.D. Jenkinson and J.B. Gomm, Design and control of three fingers motion for dexterous assembly ofcompliant elements, International Journal of Engineering, Science and Technology, Vol. 3, No. 6, 2011, pp.18-34.

DOI: 10.4314/ijest.v3i6.2s