Development of a Low-Cost Sensor-Based Adaptive Gripper

摘要

Grippers are the devices that mimic human hands in both function and form. Most of the grippers; however lack sensing abilities. The ones integrated with feedback and sensors are quite expensive. Safe and reliable grasping also demands a systematic and computationally viable algorithm. This paper presents the development of a low-cost sensor-based adaptive gripper with three fingers controlled by a motor. For efficient grasping of an unknown object, the paper presents a novel algorithm. Experiments show that the developed underactuated gripper is able to grasp irregular objects without damaging them. Sensing abilities, and the application of the proposed algorithm enable the detection and prevention of the slippage of the grasped object.