Flexible embracing gripper with force feedback control | |
| Author | Peiris, Pattiyage Dharsha Sandaruwan |
| Call Number | AIT Caps Proj no.ME-14-23 |
| Subject(s) | Grippers, Mechanical Control systems |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering in Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-14-23 |
| Abstract | This report presents the development of a flexible embracing gripper and control using force and position feedback. The gripper is 8-DOF and uses planar and serial linked mechanism. This type of gripper is able to grip objects with different properties such as irregular shapes, texture, fragile (need to be gripped cautiously). PID controllers were used for positioning and the force controlling. This project mainly focused about the prehension stage of the grasping procedure by PID controlling. The main idea is to build a complex gripper to grip and handle various objects which have different physical properties such as shape, size, fragile etc. This area is mostly a developing area due to vast improvement in nanotechnology, hi-computations, and advanced sensors etc. For hi-speed signal acquisitioning, driver and the controlling, an interface card was developed which communicates with the computer PCI card to interact fast with the physical world. C and assembly programing languages were used to control PCI card and for the interface card. |
| Year | 2014 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-14-23 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Somrak Petchartee; |
| Examination Committee(s) | Manukid Parnichkun;Lin, Than; |
| Degree | Capstone Project (M.Eng.) - Asian Institute of Technology, 2014 |