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Grasping analysis for a 3-finger adaptive robot gripper

Sadun, Amirul Syafiq and Jalani , Jamaludin and Jamil, Faizal (2016) Grasping analysis for a 3-finger adaptive robot gripper. In: 2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (IEEE 2016), 25-27 September 2016, Universiti Teknologi Petronas, Perak.


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A 3- Finger Adaptive Robot Gripper is an advanced robotic research that provides a robotic hand-like capabilities due to its flexibility and versatility. However, the grasping performance has to be analyzed and monitored based on the motor encoder, motor current, and force feedback so that the finger position and grasping force can be effectively controlled. This paper provides an open-loop grasping analysis for a 3-Finger Adaptive Robot Gripper. A series of grasping tests has been conducted to demonstrate the robot capabilities and functionalities. Different stiffness levels of the grasped objects have been chosen to demonstrate the grasping ability. In the experiment, a Modbus RTU protocol and Matlab/Simulink are used as communication and control platform. A specially modified interlink FSR sensor is proposed where a special plastic cover has been developed to enhance the sensor sensitivity. The Arduino IO Package is employed to interface the sensor and Matlab/Simulink. The results show that the significant relationships between finger position, motor current, and force sensor are found and the results can be used for a proper grasping performance.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: 3-finger adaptive robot gripper; motor current; FSR force sensor; encoder position; open-loop;
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Engineering Technology > Department of Electrical Engineering Technology
Depositing User: Mr. Mohammad Shaifulrip Ithnin
Date Deposited: 09 May 2017 07:33
Last Modified: 09 May 2017 07:33
URI: http://eprints.uthm.edu.my/id/eprint/8422
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