Authors:
Christian Ivan Basson
and
Glen Bright
Affiliation:
Discipline of Mechanical Engineering, University of KwaZulu-Natal, King George V Ave, Durban and South Africa
Keyword(s):
Flexibility, Shape Conformity, Adaptability, Active Haptic Control, Force Feedback.
Related
Ontology
Subjects/Areas/Topics:
Force and Tactile Sensors
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Haptic feedback for flexible grippers enhances control over human-machine interaction and object manipulation. Force feedback control through a haptic sensory system enables gripping sensitivity for the grasping of fragile components. The development of intelligent gripping systems has the potential to be implemented in Reconfigurable Assembly Systems, (RAS), for on-demand production lines. Advancements in object control and successful object handling for assembling systems were investigated. An active haptic control system was developed to assess the adaptability of gripper appendage grip force through a dynamic pick and place movement. The aim was to determine the force output from a self-adjusting grasping procedure using a haptic feedback control sensory system. The force output data was empirically collected and plotted on a signal verse time graph. The voltage signal representing the actual grasp force throughout a gripping procedure. The testing was performed on a previously m
anufactured gripper based on a biologically inspired phenomenon called the Fin Ray Effect®. Conclusions and recommendations were made in relation to effective grip force control.
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