Fulltext

SLIP DETECTION FOR A SPECIFIC DESIGN OF FINGERTIP IN MULTI-DIRECTION UNDER DIFFERENT LOAD CONDITIONS

Hayder Ahmed Abdulrazzaq --- Ihsan Abdulhussein Baqer --- Mauwafak Ali Tawfik

Journal of Engineering and Sustainable Development مجلة الهندسة والتنمية المستدامة
ISSN: 25200917 Year: 2019 Volume: 23 Issue: 1 Pages: 103-116
Publisher: Al-Mustansyriah University الجامعة المستنصرية

Abstract

In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads). The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios. The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously. A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program. Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status. The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load. The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping process.

Keywords

Robotic Hand --- Fingertip --- Grasping --- Dynamic Load.