Prototype three finger gripper

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 ?