Design of Instrumented Gripper

Bhanja, Aditya (2009) Design of Instrumented Gripper. BTech thesis.

PDF (DESIGN OF INSTRUMENTED GRIPPER) 1071Kb

Abstract

The design and development of dexterous robotic end effectors has been an active research area for a long, while. This paper reviews the design and construction of a versatile robotic gripper used to grasp objects of arbitrary shape, size and weight. This is achieved through a mechanical design that incorporates multiple fingers and multiple joints per finger, through the installation of proximity and force sensors on the gripper, and through the employment of an innovative and practical control system architecture for the gripper components. The gripper is installed on a standard six degree-of-freedom industrial robot, and the gripper and robot control programs are integrated in a manner that allows easy application of the gripper in an industrial pick-and-place operation where the characteristics of the object can vary or are unknown.

Item Type:	Thesis (BTech)
Uncontrolled Keywords:	Gripper
Subjects:	Engineering and Technology > Mechanical Engineering > Production Engineering
Divisions:	Engineering and Technology > Department of Mechanical Engineering
ID Code:	290
Deposited By:	Aditya Bhanja
Deposited On:	13 May 2009 09:41
Last Modified:	13 May 2009 09:41
Related URLs:	Dspace
Supervisor(s):	Biswal, B B