Brief
We designed an underactuated gripper with several tactile sensors in order to grip multiple objects. The gripper had three fingers, and each finger had a torsion spring to gain its compliance for grasping objects. It could also change the finger configuration to fit different objects. In addition, we presented a control strategy the gripper could autonomously search the object in the workspace, identify the shape of the object and grasp it stably. The experiment was conducted by assembling the gripper on the SCARA robot arm.
My Role
- Mechanism Design
- Software Development
Skill
- LabVIEW
- SolidWorks
- 3D printer
Timeline
2014/2 - 2015/10, 1.5 years
Team
National Taiwan University- Pei-Chun Lin (advisor)
- Yu-Chen Lin
- Yan-Chen Liu
- Jui-Yiao Su