Geometric Conformity Study of a Fin Ray Gripper Utilizing Active Haptic Control

摘要

The implementation of haptic feedback utilizing a force sensory system in conjunction with a biologically inspired gripper system can improve human-robot collaboration for Reconfigurable Manufacturing Systems. Robot intelligence regarding haptics in manufacturing environments possesses the potential to improve production responses to on-demand production lines. The robotic gripper system was developed from the working principles of the Fin Ray Effect <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> . Adaptability of grasping and object geometric conformity was examined to determine the gripping characteristics of the end-effector. The actuation control through active haptic feedback of the gripper was investigated to determine grasping response and force signal regulation of object retention. The processing signal values through an Arduino <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> data acquisition system provided a characteristic curve of self-conformity properties of the gripper system. The study provided an experimental methodology of testing technical monitoring for force application and deformity study of flexible grippers of the same nature. The outcome from experimental techniques contributed to understanding geometric conformity for biologically inspired grippers for sensitive handling of fragile components and unsymmetrical geometries.