Home > Published Issues > 2020 > Volume 9, No. 4, April 2020 >

Adaptive Gripper Controlled with Linear Micro Actuator for Correct Fastening of Objects of Variant Forms

María F. Mogro, Dario J. Mendoza and Angel M. López
Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

Abstract— This study about adaptive gripper controlled with micro servo linear allows a correct fastening of objects of several forms and sizes, this facilitates at the time of picking up pieces, because the hooks are deformed according to the form of pieces that were picked. The gripper has developed for multiple applications of fastening of variable objects, driven by a linear micro actuator that provides a continuous micro-movement that allows controlling the grip, three hooks synthesize prototypes that includes force sensors not to cause damage in the selected object, due to the opening, closing and force by the linear actuator micro. Through a test of adaptability, a set of robotic hooks is developed, connected to a base and pushed by the liner micro actuator to show the effectiveness of the design with irregular objects or variants. 

Index Terms—Gripper, mechanics design, Forms, motors, performance simulations

Cite: María F. Mogro, Dario J. Mendoza and Angel M. López, "Adaptive Gripper Controlled with Linear Micro Actuator for Correct Fastening of Objects of Variant Forms" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 4, pp. 576-581, April 2020. DOI: 10.18178/ijmerr.9.4.576-581

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.