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미지물체를 안전하게 잡기 위한 지능형 그리퍼의 제어장치개발open accessDevelopment of Intelligent Gripper Control Device to Safely Grip Unknown Objects
- Other Titles
- Development of Intelligent Gripper Control Device to Safely Grip Unknown Objects
- Issue Date
- 2022
- Publisher
- 한국기계가공학회
- Keywords
- Gripper(그리퍼); Intelligent Gripper(지능형 그리퍼); Control Device(제어장치); Electronic Circuit (전자회로)
- Citation
- 한국기계가공학회지, v.21, no.4, pp 31 - 38
- Pages
- 8
- Indexed
- KCI
- Journal Title
- 한국기계가공학회지
- Volume
- 21
- Number
- 4
- Start Page
- 31
- End Page
- 38
- ISSN
- 1598-6721
2288-0771
- Abstract
- In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknownobjects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit,and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which thegripper is attached are measured and calculated at high speeds. The gripping force is determined based onthis value, and the object must be safely gripped with the determined value. A basic characteristic test of thecontrol device of the manufactured intelligent gripper was conducted, and it was confirmed that it operatedsafely
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