Browse > Article
http://dx.doi.org/10.14775/ksmpe.2022.21.04.031

Development of Intelligent Gripper Control Device to Safely Grip Unknown Objects  

Kim, Han-Sol (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.)
Kim, Gab-Soon (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.21, no.4, 2022 , pp. 31-38 More about this Journal
Abstract
In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknown objects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit, and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which the gripper is attached are measured and calculated at high speeds. The gripping force is determined based on this value, and the object must be safely gripped with the determined value. A basic characteristic test of the control device of the manufactured intelligent gripper was conducted, and it was confirmed that it operated safely.
Keywords
Gripper; Intelligent Gripper; Control Device; Electronic Circuit;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Birglen, L., "Enhancing Versatility and Safety of Industrial Grippers with Adaptive Robotic Fingers," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Congress Center Hamburg, Hamburg, Germany, Sept 28-Oct 2, pp. 2911-2916, 2015.
2 Kyberd, P. J., Evans, M., and Winkel, S., "An Intelligent Anthropomorphic Hand, with Automatic Grasp," Robotica, Vol. 16 , No. 5, pp. 531-536, 1998.   DOI
3 Honarpardaz, M., Tarkian, M., Olvander, J., and Feng, X., "Finger design automation for industrial robot grippers: A review," Robotics and Autonomous Systems, Vol. 47, pp. 104-119, 2017.
4 Jorg, O., and Fantoni, G., "Fast development cycle for the design of industrial grippers," Procedia CIRP, Vol. 100, pp. 211-216, 2021.   DOI
5 Bicchi, A., "Hands for dexterous manipulationand robust grasping: a difficult road towards simplicity," IEEE Transactions on Robotics and automation, Vol. 16, No. 6, pp. 652-662, December 2000.   DOI
6 Song, A., Wu, J., Qin, G., and Huang, W., "A novel self-decoupled four degree-of-freedom wrist force/torque sensor," Measurement, Vol. 40, pp. 883-891, 2007.   DOI
7 Kim, H. S., and Kim, G. S., "Development of Calf Link Force Sensors of Walking Assist Robot for Leg Patients," Journal of Sensor Science and Technology, Vol. 26, No. 2, pp. 114-121, 2017.   DOI
8 Kevi, T., Shahriari, M., Biglarbegian, M., and Mahmud, S., "State of the Art Robotic Grippers and Applications," Robotics, Vol. 5, No. 2, pp. 1~20, 2016.   DOI
9 Kyberd, P. J., Light, C., Chappell, P. H., Nightingale, J. M., Whatley, D., and Evans, M., "The design of anthropomorphic prosthetic hands: A study of the Southampton Hand," Robotica , Vol. 19, No. 6, pp. 593-600, 2001.   DOI
10 Roberge, J. P., Ruotolo, W., Duchaine, V., and Cutkosky, M., "Improving Industrial Grippers With Adhesion-Controlled Friction," IEEE ROBOTICS AND AUTOMATION LETTERS, Vol. 3, No. 2, 2018.
11 ChelpanovS, I. B., and olpashnikov, N. K., "Problems with the mechanics of industrial robot grippersLes problemes de la mecanique des pinces prehensibles des robots industriels," Mechanism and Machine Theory, Vol. 18, No. 4, pp. 295-299, 1983.   DOI
12 Huang, S. J., Chang, W. H. and Su, J. Y., "Intelligent Robotic Gripper with Adaptive Grasping Force," International Journal of Control, Automation, and Systems, Vol. 15, No. 5, pp. 2272-2282, 2017.   DOI