Development of a Low-Cost Sensor-Based Adaptive Gripper

Grippers are the devices that mimic human hands in both function and form. Most of the grippers; however lack sensing abilities. The ones integrated with feedback and sensors are quite expensive. Safe and reliable grasping also demands a systematic and computationally viable algorithm. This paper presents the development of a low-cost sensor-based adaptive gripper with three fingers controlled by a motor. For efficient grasping of an unknown object, the paper presents a novel algorithm. Experiments show that the developed underactuated gripper is able to grasp irregular objects without damaging them. Sensing abilities, and the application of the proposed algorithm enable the detection and prevention of the slippage of the grasped object.

[1]  Kenta Shigematsu,et al.  PERFORMANCE OF MOVABLE-TYPE HARVESTING ROBOT FOR STRAWBERRIES , 2011 .

[2]  Aaron M. Dollar,et al.  Stable, open-loop precision manipulation with underactuated hands , 2015, Int. J. Robotics Res..

[3]  Chao Chen,et al.  Design of the gripper for power lines inspection robot , 2014, Proceeding of the 11th World Congress on Intelligent Control and Automation.

[4]  Mohammad Biglarbegian,et al.  State of the Art Robotic Grippers and Applications , 2016, Robotics.

[5]  D. Borro,et al.  A review of surgical robots for spinal interventions , 2013, The international journal of medical robotics + computer assisted surgery : MRCAS.

[6]  Yi-Chich Chiu,et al.  Development of the End-Effector of a Picking Robot for Greenhouse-Grown Tomatoes , 2013 .

[7]  Asifullah Khan,et al.  A survey of the recent architectures of deep convolutional neural networks , 2019, Artificial Intelligence Review.

[8]  Gianluca Palli,et al.  A three-fingered cable-driven gripper for underwater applications , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[9]  Christian Cipriani,et al.  Design of Artificial Hands: A Review , 2014, The Human Hand as an Inspiration for Robot Hand Development.

[10]  Aaron M. Dollar,et al.  A modular, open-source 3D printed underactuated hand , 2013, 2013 IEEE International Conference on Robotics and Automation.

[11]  Ivan I. Borisov,et al.  Versatile Gripper as Key Part For Smart Factory , 2018, 2018 IEEE Industrial Cyber-Physical Systems (ICPS).

[12]  Giuseppe Di Gironimo,et al.  Implementation of tactile sensors on a 3-Fingers Robotiq® adaptive gripper and visualization in VR using Arduino controller , 2018 .

[13]  Almas Shintemirov,et al.  A Low-Cost Open-Source 3-D-Printed Three-Finger Gripper Platform for Research and Educational Purposes , 2015, IEEE Access.

[14]  Kourosh Zareinia,et al.  A Brief Review on Robotic Grippers Classifications , 2019, 2019 IEEE Canadian Conference of Electrical and Computer Engineering (CCECE).

[15]  Tateshi Fujiura,et al.  Cherry-harvesting robot , 2008 .

[16]  Amirul Syafiq Sadun,et al.  Grasping analysis for a 3-Finger Adaptive Robot Gripper , 2016, 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA).