Design, Development and Control of a Three Flexible-Fingers Gripper Based On Hand Gesture
| Autor: | Shahrooz Shahin, Pooyan Sedigh, Rasoul Sadeghian, Mehdi Tale Masouleh, Parastoo Azizinezhad |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
business.industry
Computer science Controller (computing) 020208 electrical & electronic engineering Process (computing) 3D printing 02 engineering and technology Kalman filter 020303 mechanical engineering & transports 0203 mechanical engineering Grippers 0202 electrical engineering electronic engineering information engineering Ultrasonic sensor Computer vision Development (differential geometry) Artificial intelligence business Gesture |
| Zdroj: | 2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM). |
| DOI: | 10.1109/icrom.2018.8657517 |
| Popis: | In this paper, the process of design, and construction of a flexible gripper with three fingers is presented. The fingers of the proposed gripper are fabricated using a 3D printing device. The gripper is controlled remotely by an autonomous glove which is designed to help people with disability. In order to ameliorate the movement accuracy of the gripper a Fuzzy-PID controller is implemented on the system. The result of experimental tests demonstrate a decrease of the gripper movement error to less than 2 degrees in average. An ultrasonic sensor is set on the gripper’s body to improve the grasping process by detecting the distance of the object to the gripper. The fabricated fingers are flexible and provides the ability of grasping the objects with irregular shapes. The experimental test approves the significant performance of the gripper in term of grasping complex shape objects. |
| Databáze: | OpenAIRE |
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