Design and fabrication of soft sensors for smart gripper
Sensors for grippers are critical in allowing precise and reliable handling of objects. The ability to accurately sense the position, orientation and force of objects being handled by grippers is essential for tasks such as pick and place operations. The main challenges include ensuring accuracy and...
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| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/166922 |
| _version_ | 1826120220415098880 |
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| author | Tan, Zhen Ling |
| author2 | Yeong Wai Yee |
| author_facet | Yeong Wai Yee Tan, Zhen Ling |
| author_sort | Tan, Zhen Ling |
| collection | NTU |
| description | Sensors for grippers are critical in allowing precise and reliable handling of objects. The ability to accurately sense the position, orientation and force of objects being handled by grippers is essential for tasks such as pick and place operations. The main challenges include ensuring accuracy and
reliability of the sensors, integrating sensor data with the gripper's control system in real time, and ensuring durability in harsh operating conditions.
This study focuses on the design and fabrication of a capacitive sensor for use in smart grippers. The sensor is intended to provide accurate feedback on the grip force of the gripper, allowing for better control and manipulation of objects. In this study, the Aerosol Jet Printing technique is used for the
printing of conductive silver ink. The optimal printing condition is first being investigated through a series of experiments before the actual capacitive sensor design is printed. The performance of the sensor is then evaluated, with the emphasis on its sensitivity and repeatability. It is found that the
sensor can detect different objects with different dielectric properties and is capable of withstanding at least 100 cycles of cyclic testing without significant degradation of performance. Overall, this study shows the potential of fabricating a capacitive sensor to detect different objects, which can then be
used to calibrate the gripping force in smart grippers. |
| first_indexed | 2024-10-01T05:12:57Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/166922 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:12:57Z |
| publishDate | 2023 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1669222023-05-20T16:51:18Z Design and fabrication of soft sensors for smart gripper Tan, Zhen Ling Yeong Wai Yee School of Mechanical and Aerospace Engineering WYYeong@ntu.edu.sg Engineering::Mechanical engineering Sensors for grippers are critical in allowing precise and reliable handling of objects. The ability to accurately sense the position, orientation and force of objects being handled by grippers is essential for tasks such as pick and place operations. The main challenges include ensuring accuracy and reliability of the sensors, integrating sensor data with the gripper's control system in real time, and ensuring durability in harsh operating conditions. This study focuses on the design and fabrication of a capacitive sensor for use in smart grippers. The sensor is intended to provide accurate feedback on the grip force of the gripper, allowing for better control and manipulation of objects. In this study, the Aerosol Jet Printing technique is used for the printing of conductive silver ink. The optimal printing condition is first being investigated through a series of experiments before the actual capacitive sensor design is printed. The performance of the sensor is then evaluated, with the emphasis on its sensitivity and repeatability. It is found that the sensor can detect different objects with different dielectric properties and is capable of withstanding at least 100 cycles of cyclic testing without significant degradation of performance. Overall, this study shows the potential of fabricating a capacitive sensor to detect different objects, which can then be used to calibrate the gripping force in smart grippers. Bachelor of Engineering (Mechanical Engineering) 2023-05-17T01:08:19Z 2023-05-17T01:08:19Z 2023 Final Year Project (FYP) Tan, Z. L. (2023). Design and fabrication of soft sensors for smart gripper. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/166922 https://hdl.handle.net/10356/166922 en B294 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering Tan, Zhen Ling Design and fabrication of soft sensors for smart gripper |
| title | Design and fabrication of soft sensors for smart gripper |
| title_full | Design and fabrication of soft sensors for smart gripper |
| title_fullStr | Design and fabrication of soft sensors for smart gripper |
| title_full_unstemmed | Design and fabrication of soft sensors for smart gripper |
| title_short | Design and fabrication of soft sensors for smart gripper |
| title_sort | design and fabrication of soft sensors for smart gripper |
| topic | Engineering::Mechanical engineering |
| url | https://hdl.handle.net/10356/166922 |
| work_keys_str_mv | AT tanzhenling designandfabricationofsoftsensorsforsmartgripper |