Transcript
By Matthew Fenech
MCAST BTEC HND FINAL YEAR PROJECT
The Gripper
Aims
Development of a new grasping method for the Explosive & Ordinance Dept (EOD).
Ability to grasp regular & irregular objects Safe Handling
Research
Human hand analysis Previous developed grippers: Barret Hand
& Utah hand Methods of actuation Controllers, Sensing methods Components, foreign markets
Design & General Specs
CAD modelling Force Sensing
Resistor Aluminium Servo Motors
actuation
Pulleys
Slip Clutch
Sensing area
Development
Cutting & Drilling, grinding
Milling Lathe work Sheet Metal work Programming &
Wiring
Development
Results
Software Response for 1 finger test
For 10N (1.02Kg) voltage return 3.5V
Motor current 720mA
Results
Problems encountered & solutions Fingers operating
sequentially due to parallel processing problem
Erratic operation due to lack of current from the power supply
Servo overheating Sensor problems:
track cracks due to bending
Cracked track
Problems encountered & Solutions
Cracked track
Video…
Future Development
Reduced sizing Included tensioning & braking system Different Sensing technologies Flat motors application Remote application by the use of radio
frequency transmission
Conclusion
Programming skills The use of machinery & equipment to
produce my designed products Procurement of products from foreign
markets Ability to work under pressure
Any Questions ?
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