Mechatronics Design of Intelligent Robotic Gripper

Abstract:

This work presents multi-functional robot arm gripper design along with vision and tactile sensor for efficient grasping and manipulation tasks. The design emulates human’s hand fingers structure using linkages and direct drive through slider-crank mechanism transmission. The structural elements are optimized for a finest performance in motion and force transmissibility of the gripper fingers. The main future of this design is its reliability to grasp and manipulate unknown object while its system complexity is reduced. The gripper has a tool change fixture incorporated into its palm, which will reduce time wastage and do assembling in one go. The gripper is equipped with two cameras in its palm; subsequently it will efficiently seek the target object and perform its prehensile task with intelligently determined grasping force.

• Periodical: Key Engineering Materials (Volume 649)
• Pages: 14-21
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.649.14
• Online since: June 2015
• Authors: W.T. Asheber*, Chyi Yeu Lin
• Keywords: Finger Gripper, Intelligent Gripper, Mechatronics Design, Robot Grasping, Tactile Sensor, Vision Sensor

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