Three-fingered gripper for multiform object grasping with force feedback sensing control

Andre Matos; Sebastian Caballa; Diego Zegarra; Manuel Augusto Aranda Guzman; David Lizano; David Fernando Gonzales Encinas; Hector Oscanoa; Diego Arce

doi:10.1109/ANDESCON50619.2020.9271990

Three-fingered gripper for multiform object grasping with force feedback sensing control

Andre Matos, Sebastian Caballa, Diego Zegarra, Manuel Augusto Aranda Guzman, David Lizano, David Fernando Gonzales Encinas, Hector Oscanoa, Diego Arce

Sección de Ingeniería Mecánica

Pontifical Catholic Univ. of Peru

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

The purpose of this paper is to describe the design of a three-finger gripper with a force feedback control. Based on commercial three-fingered grippers, this research aims to design and implement an electric gripper with rapid prototyping materials and the addition of Force Sensing Resistor (FSR) on the tip of each finger, attached with a semi-sphere silicone piece. The gripper with the FSR sensors was validated with objects of different materials and forms. The implemented gripper was integrated into an industrial robotic arm in order to simulate its application in real scenarios. Finally, grasping and displacement experiments were performed to objects with different geometries and sizes using the proposed gripper integrated into the robotic arm.

Original language	English
Title of host publication	2020 IEEE ANDESCON, ANDESCON 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728193656
DOIs	https://doi.org/10.1109/ANDESCON50619.2020.9271990
State	Published - 13 Oct 2020
Event	2020 IEEE ANDESCON, ANDESCON 2020 - Quito, Ecuador Duration: 13 Oct 2020 → 16 Oct 2020

Publication series

Name	2020 IEEE ANDESCON, ANDESCON 2020

Conference

Conference	2020 IEEE ANDESCON, ANDESCON 2020
Country/Territory	Ecuador
City	Quito
Period	13/10/20 → 16/10/20

Keywords

Grasping
Gripper
Robotic hand
Sensor force
Three-fingered gripper

Access to Document

10.1109/ANDESCON50619.2020.9271990

Cite this

Matos, A., Caballa, S., Zegarra, D., Guzman, M. A. A., Lizano, D., Encinas, D. F. G., Oscanoa, H., & Arce, D. (2020). Three-fingered gripper for multiform object grasping with force feedback sensing control. In 2020 IEEE ANDESCON, ANDESCON 2020 Article 9271990 (2020 IEEE ANDESCON, ANDESCON 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ANDESCON50619.2020.9271990

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title = "Three-fingered gripper for multiform object grasping with force feedback sensing control",

abstract = "The purpose of this paper is to describe the design of a three-finger gripper with a force feedback control. Based on commercial three-fingered grippers, this research aims to design and implement an electric gripper with rapid prototyping materials and the addition of Force Sensing Resistor (FSR) on the tip of each finger, attached with a semi-sphere silicone piece. The gripper with the FSR sensors was validated with objects of different materials and forms. The implemented gripper was integrated into an industrial robotic arm in order to simulate its application in real scenarios. Finally, grasping and displacement experiments were performed to objects with different geometries and sizes using the proposed gripper integrated into the robotic arm.",

keywords = "Grasping, Gripper, Robotic hand, Sensor force, Three-fingered gripper",

author = "Andre Matos and Sebastian Caballa and Diego Zegarra and Guzman, {Manuel Augusto Aranda} and David Lizano and Encinas, {David Fernando Gonzales} and Hector Oscanoa and Diego Arce",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE ANDESCON, ANDESCON 2020 ; Conference date: 13-10-2020 Through 16-10-2020",

year = "2020",

month = oct,

day = "13",

doi = "10.1109/ANDESCON50619.2020.9271990",

language = "English",

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publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Matos, A, Caballa, S, Zegarra, D, Guzman, MAA, Lizano, D, Encinas, DFG, Oscanoa, H & Arce, D 2020, Three-fingered gripper for multiform object grasping with force feedback sensing control. in 2020 IEEE ANDESCON, ANDESCON 2020., 9271990, 2020 IEEE ANDESCON, ANDESCON 2020, Institute of Electrical and Electronics Engineers Inc., 2020 IEEE ANDESCON, ANDESCON 2020, Quito, Ecuador, 13/10/20. https://doi.org/10.1109/ANDESCON50619.2020.9271990

Three-fingered gripper for multiform object grasping with force feedback sensing control. / Matos, Andre; Caballa, Sebastian; Zegarra, Diego et al.
2020 IEEE ANDESCON, ANDESCON 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 9271990 (2020 IEEE ANDESCON, ANDESCON 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Three-fingered gripper for multiform object grasping with force feedback sensing control

AU - Matos, Andre

AU - Caballa, Sebastian

AU - Zegarra, Diego

AU - Guzman, Manuel Augusto Aranda

AU - Lizano, David

AU - Encinas, David Fernando Gonzales

AU - Oscanoa, Hector

AU - Arce, Diego

PY - 2020/10/13

Y1 - 2020/10/13

N2 - The purpose of this paper is to describe the design of a three-finger gripper with a force feedback control. Based on commercial three-fingered grippers, this research aims to design and implement an electric gripper with rapid prototyping materials and the addition of Force Sensing Resistor (FSR) on the tip of each finger, attached with a semi-sphere silicone piece. The gripper with the FSR sensors was validated with objects of different materials and forms. The implemented gripper was integrated into an industrial robotic arm in order to simulate its application in real scenarios. Finally, grasping and displacement experiments were performed to objects with different geometries and sizes using the proposed gripper integrated into the robotic arm.

AB - The purpose of this paper is to describe the design of a three-finger gripper with a force feedback control. Based on commercial three-fingered grippers, this research aims to design and implement an electric gripper with rapid prototyping materials and the addition of Force Sensing Resistor (FSR) on the tip of each finger, attached with a semi-sphere silicone piece. The gripper with the FSR sensors was validated with objects of different materials and forms. The implemented gripper was integrated into an industrial robotic arm in order to simulate its application in real scenarios. Finally, grasping and displacement experiments were performed to objects with different geometries and sizes using the proposed gripper integrated into the robotic arm.

KW - Grasping

KW - Gripper

KW - Robotic hand

KW - Sensor force

KW - Three-fingered gripper

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ER -

Three-fingered gripper for multiform object grasping with force feedback sensing control

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Keywords

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