Abstract
This paper presents the 3D design of a flexible gripper used for gripping polyform objects that require a certain degree of adaptation of the effector for its manipulation. For this case, the 3D printing of the gripper and its construction is exposed, where a fuzzy controller is implemented for its manipulation. The effector has a flexo resistance that provides information of the deflection of the gripper, this information and the desired grip force are part of the fuzzy controller that seeks to regulate the current of the servomotors that make up the structure of the gripper and are responsible for ensuring the grip. An efficient system is obtained for gripping polyform objects involving deflection of up to 5 mm with a current close to 112 mA.
Highlights
In the field of robotics, many new technologies and materials have been introduced to improve robot functionality; in recent years, these include 3-D printing as an opportunity to fabricate novel structures, as mentioned in [1]
Modern robotic systems are starting to employ flexible grippers oriented to soft robotics, as discussed in [6], where one of the antecedents for this type of design is discussed in [7]
In [8] and [9], the use of 3D printing in the design of flexible grippers for complex, gripping objects with robots is illustrated, both are based on a three-finger design, but in extremes of flexibility, the first very flexible and the second with a lesser degree
Summary
In the field of robotics, many new technologies and materials have been introduced to improve robot functionality; in recent years, these include 3-D printing as an opportunity to fabricate novel structures, as mentioned in [1]. Functionality and efficiency are crucial when establishing the devices implemented within an assembly line [14] Elements such as grippers are widely required in processes such as pick and place, where a manipulator is required to have the ability to interact with different parts within its environment employing a gripper [14]. The flexible effector concept can adapt to the shape of the object to obtain an optimal grip [15] It is for this reason that Festo, world leader in automation and robotics, offers its customers different models of adaptive effectors whose methodology is based on biological models exposed throughout nature [16] and that are the basis for the continuity of work in articles such as those mentioned above, the one exposed in [17] and others. 967 introduction, section two, which describes the methodology employed, section three which presents the analysis of results and the final section which presents the conclusions reached
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