No abstract

In this paper, the authors describe and demonstrate how a three 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 are provided by a classical PD control strategy. The force controlling gripper in contact with the environment is very important in industry applications. The fingers are to be controlled in a manner which mimics the kinematics and dynamics of the thumb force finger and index finger of a human hand. This mimicry is required to design the correct motions and tactile forces necessary to handle delicate and non delicate engineering components. In order to evaluate the design philosophy and capability of the three fingered gripper, a challenging assembly process has been identified. This is assembly of a gas regulator valve which is currently being manually assembled since the dexterous motions of the human hand out perform current automatic assembly strategies. The three fingered gripper assembly was built using Solidworks software tool, and it's mechanical assembly representation was established in SimMechanics.

Abstract. Multi-fingered robot gripper has become popular in the major research topics as grasping an object in robotic systems. The author considers a matter of style-based control model for a multi-fingered robot hand grasping an object with a known geometric characteristics. This paper introduces design process and analysis of contact force the five fingered gripper suitable to handle several of objects. The author applied Simulink/SimMechanics, Support package Arduino and Inventor software packages to facilatate and integrated the design of contact force gripper systems. The advance of PID control is used to control dynamics motions of the five fingered gripper systems. The multifunction finger's gripper is developed to handle the various components. Contact force between fingertips and object surface is computed using the Hooke law concept. The analysis of experiment result shows the optimum of contact forces are achieved to hold the object. The spring and damper algorithm is used to compute the interaction of force between fingertips and object surface.

No abstract

No abstract