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

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

Pontificia Universidad Catolica del Peru

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Idioma original	Español
Título de la publicación alojada	2020 IEEE ANDESCON, ANDESCON 2020
Estado	Publicada - 13 oct. 2020
Publicado de forma externa	Sí

Citar esto

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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.",

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",

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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.

M3 - Contribución a la conferencia

BT - 2020 IEEE ANDESCON, ANDESCON 2020

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