ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
Menu

10
Issue
vol 62 / November, 2019
Article

DOI 10.17586/0021-3454-2019-62-1-93-96

UDC 681.51

ELECTROMECHANICAL GRIPPER WITH FORCE SENSING SYSTEM

A. A. Margun
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


D. N. Bazylev
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


K. A. Zimenko
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


P. D. Vakhviyanova
ITMO University, Faculty of Control Systems and Robotics; Engineer ;


Read the full article 

Abstract. An electromechanical underactuated gripper with flexible joints and a force sensing system is presented. The gripper is characterized by small size, weight, and energy consumption, which allows it to be used on mobile robotic devices. The key advantage of the developed device is the expansion of the field of application due to the proposed force sensing system enabling operation with fragile and inelastically deformable objects, as well as with objects of complex geometric shape. Another feature of the proposed gripper is the use of additive technologies for manufacture of parts that provide rigidity and structural integrity.
Keywords: electromechanical gripper, underactuated gripper, force sensing system, modular construction

References:
  1. Ma R.R., Odhner L.U., Dollar A.M. IEEE International conference on robotics and automation (ICRA), 2013, рр. 2722–2728.
  2. Ma R.R., Dollar A.M. IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014, DOI: 10.1109/ROBIO.2014.7090666.
  3. Smirnov A.B., Krushinskiy I.A. Journal of Instrument Engineering, 2010, no. 2(53), pp. 33–37. (in Russ.)
  4. Balasubramanian R., Belter J.T., Dollar A.M. Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 2010, рр. 1–10.
  5. Bicchi A. IEEE Transactions on Robotics and Automation, 2000, no. 6(16), pp. 652–662.
  6. Choi M.-S., Lee D.-H., Park H., Kim Y.-J., Jang G.-R., Shin Y.-D., Park J.-H., Baeg M.-H., Bae J.-H. 56th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), 2017, DOI: 10.23919/SICE.2017.8105739.
  7. Telegenov K., Tlegenov Y., Shintemirov A. IEEE Access, 2015, no. 3, pp. 638–647.
  8. FSR 400 Data Sheet, https://www.digikey.com/en/product-highlight/i/interlink/fsr-400-round-force-sensing-resistor.