Abstract
AbstractThe logical specification of a microprocessor‐based air‐servo‐controlled robot hand is presented, as well as its actual implementation. This hand can accommodate a wide variety of workpieces and allows for flexible assembly through the use of an automatic quick‐change fingertip. The changeable set of gripper fingers is equipped with sensors, including a tactile force sensor, a crossfire sensor, a proximity sensor, and a slip sensor. A changeable set of gripper fingers with different sensing ranges can cope with certain subranges of the workpiece spectrum. A considerable cost saving is achieved by not changing the gripper itself. This specially designed hardware and software system includes position and force feedback. A PUMA 560 is used to test the success of the entire process.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
