✦ LIBER ✦

An adroit robot gripper for tactile sensor research

✍ Scribed by R.Andrew Russell

Publisher: Elsevier Science
Year: 1991
Tongue: English
Weight: 1011 KB
Volume: 1
Category: Article
ISSN: 0957-4158
DOI: 10.1016/0957-4158(91)90031-5

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✦ Synopsis

This paper describes a novel robot gripper incorporating two parallel actuated six degree of freedom fingers. The gripper was designed to investigate the use of touch sensing in object recognition and manipulation tasks. Coordinated motion of 12 linear servos positions the gripper fingers. Control of this number of servos is too time-consuming for a single unaided microprocessor. Therefore, the control task was distributed amongst 12 dedicated motion control processors (MCPs) under the supervision of a personal computer. Each MCP provides full PID control of one servo with the personal computer performing trajectory calculations, interfacing to sensors and supervising the MCPs. The gripper performs very well as an experimental platform for tactile sensor research and, with further development, it could form the basis of a commercially viable, versatile, multifunction robot end effector.

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