Development of two-fingered underactuated robot gripper using 3D printer
This research present the development of a two-fingered underactuated robot gripper by using 3D printed machine with a material of Polylactic acid or PLA. The gripper design consist of two individual servo motors that drives the finger movement to perform a certain amount of grasping force. The new...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IOP Publishing
2019
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/720/1/DNJ9834_fd7eef3385df8e060f978e1e1323823b.pdf |
| _version_ | 1796868325752438784 |
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| author | Sadun, Amirul Syafiq Jalani, Jamaludin Nasir, Siti Hana Roslan, Mohd Nazrul Hashim, Hairulazwan Mohd Anuar, Syazwani |
| author_facet | Sadun, Amirul Syafiq Jalani, Jamaludin Nasir, Siti Hana Roslan, Mohd Nazrul Hashim, Hairulazwan Mohd Anuar, Syazwani |
| author_sort | Sadun, Amirul Syafiq |
| collection | UTHM |
| description | This research present the development of a two-fingered underactuated robot gripper by using 3D printed machine with a material of Polylactic acid or PLA. The gripper design consist of two individual servo motors that drives the finger movement to perform a certain amount of grasping force. The new design of the finger using Solidworks was inspired by several existing robot gripper however with a low cost approach to obtain a good finger tracking and angular control. The fully fabricated and assembled gripper was then tested to determine the operation results during basic grasping and ungrasping by connected to Arduino Mega and MATLAB software. The angular data during the operation shows that the gripper successfully perform a stable operations despite some minor disturbance due to the mechanical defect on the servo plate. Further analysis will be conducted in the future in order to identify the full capability of the gripper in real world application such as force control operations |
| first_indexed | 2024-03-05T21:38:10Z |
| format | Article |
| id | uthm.eprints-720 |
| institution | Universiti Tun Hussein Onn Malaysia |
| language | English |
| last_indexed | 2024-03-05T21:38:10Z |
| publishDate | 2019 |
| publisher | IOP Publishing |
| record_format | dspace |
| spelling | uthm.eprints-7202021-10-17T06:19:21Z http://eprints.uthm.edu.my/720/ Development of two-fingered underactuated robot gripper using 3D printer Sadun, Amirul Syafiq Jalani, Jamaludin Nasir, Siti Hana Roslan, Mohd Nazrul Hashim, Hairulazwan Mohd Anuar, Syazwani TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) This research present the development of a two-fingered underactuated robot gripper by using 3D printed machine with a material of Polylactic acid or PLA. The gripper design consist of two individual servo motors that drives the finger movement to perform a certain amount of grasping force. The new design of the finger using Solidworks was inspired by several existing robot gripper however with a low cost approach to obtain a good finger tracking and angular control. The fully fabricated and assembled gripper was then tested to determine the operation results during basic grasping and ungrasping by connected to Arduino Mega and MATLAB software. The angular data during the operation shows that the gripper successfully perform a stable operations despite some minor disturbance due to the mechanical defect on the servo plate. Further analysis will be conducted in the future in order to identify the full capability of the gripper in real world application such as force control operations IOP Publishing 2019 Article PeerReviewed text en http://eprints.uthm.edu.my/720/1/DNJ9834_fd7eef3385df8e060f978e1e1323823b.pdf Sadun, Amirul Syafiq and Jalani, Jamaludin and Nasir, Siti Hana and Roslan, Mohd Nazrul and Hashim, Hairulazwan and Mohd Anuar, Syazwani (2019) Development of two-fingered underactuated robot gripper using 3D printer. IOP Conference Series: Materials Science and Engineering, 637. |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Sadun, Amirul Syafiq Jalani, Jamaludin Nasir, Siti Hana Roslan, Mohd Nazrul Hashim, Hairulazwan Mohd Anuar, Syazwani Development of two-fingered underactuated robot gripper using 3D printer |
| title | Development of two-fingered underactuated robot gripper using 3D printer |
| title_full | Development of two-fingered underactuated robot gripper using 3D printer |
| title_fullStr | Development of two-fingered underactuated robot gripper using 3D printer |
| title_full_unstemmed | Development of two-fingered underactuated robot gripper using 3D printer |
| title_short | Development of two-fingered underactuated robot gripper using 3D printer |
| title_sort | development of two fingered underactuated robot gripper using 3d printer |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/720/1/DNJ9834_fd7eef3385df8e060f978e1e1323823b.pdf |
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