University of Twente Student Theses
Modelling and control of underactuated finger-based gripper with adjustable compliance for grasping of varying and deformable objects
Bluiminck, M. (2022) Modelling and control of underactuated finger-based gripper with adjustable compliance for grasping of varying and deformable objects.
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| Abstract: | Grasping and manipulation of deformable objects are challenging problems in the food-processing industry, because objects vary widely in size, mass and stiffness. To prevent damaging the object and to secure a stable grasp, this paper proposes a tendon-driven 2-DoF finger-based gripper design with variable joint stiffness utilizing an agonist-antagonist setup. The selected tendon routing configuration obtains independently controllable joint angles and combined joint stiffness while being underactuated. Additionally, a common unactuated degree of freedom realizes a high adaptability for gripper alignment issues and irregular object shapes. An intuitive control strategy is proposed to regulate contact forces at the fingers and regulate stiffness by co-contraction. A proof-of-concept prototype was developed that successfully grasped multiple objects of different size, mass and stiffness. Furthermore, the gripper was capable to increase the joint stiffness by a factor of 3 with less than a 10% increase in grasp contact force and less than 0.025 rad joint deviation. The prototype showed a joint stiffness range of 0.02-0.48 Nm/rad. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 48 agricultural science, 50 technical science in general, 52 mechanical engineering |
| Programme: | Electrical Engineering MSc (60353) |
| Link to this item: | https://purl.utwente.nl/essays/93269 |
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