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.

An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems

“…Nowadays, industrial robots have played a great role in the manufacturing eld and industries and are still taking an important position in the current modern industries [1,2]. A robot manipulator is made up of a number of links joined by joints that allow for both rotation and linear motion.…”

An Integrated Multi-Sensor Network for Adaptive Grasping of Fragile Fruits: Design and Feasibility Tests

“…In order to have a well perception of the object, a multi-sensor network is designed functionally compatible to the need, which includes force sensor, bending sensor, and vision sensor, which will be further illustrated later. A microcontroller will control the gripper based on feedback received from sensor or relevant actions [ 22 ].…”

“…In order to accomplish a grasping task, the target should be perceived precisely first [ 22 ]. The intelligent manipulator, a tool for the robot to grab the object and operate the target, is also an interface for data acquisition and perception [ 23 ].…”

Concept for a multi-purpose academic gripper

“…To overcome these inherently difficulties of any robot system, various concepts have been published over the last decades proposing the use of cameras to locate parts and camera-based positioning data for gripping and placing [12]. Most widespread concepts are fixed cameras above a conveyor, cameras in the upper corners of a robotic work cell [8], cameras attached to the robot's shoulder [13], cameras in the palm of a gripper [2] and cameras at the side of a gripper [1], [9] or in the palm plane of the gripper. All these concepts have in common that gripped objects block the view of the camera.…”