Design -and Experimental Analysis of a Force Sensitive Gripper for Safe Robot Applications

摘要

In order to obtain haptic interaction with precise force feedback from the environment, for an exoskeleton, a robotic 2-jaw gripper is proposed. To reach this goal, a gripper is designed based on optimizing the link lengths to maximize the amount of weight that the gripper could hold and built with parallel jaws and two Force Sensitive Resistor (FSR) sensors for measuring the force applied on the jaws. The gripper is used as an end effector for a palletizing 3-DOF robotic arm and is interfaced to a computer using an Arduino board. The FSRs are both calibrated before object grasping, and as a result, the force exerted on each jaw while grasping objects is obtained. This data is consequently used to achieve four goals: detect an object presence, prevent the object from being damaged during grasp, evaluate the object weight through the coefficient of friction and obtain safe haptic feedback for a master exoskeleton (HEXON <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> ). The experimental results are provided within the mechanism relations and numerical simulation to validate the desired tasks.