비정형 물체를 잡을 수 있는 세 손가락 그리퍼의 기계장치 설계

Abstract

In this study, a three-finger gripper that could safely grip irregular objects was designed and manufactured. The three-finger gripper consisted of a gripper rod, four-axis force/moment sensor, link device, motor-fixingdevice, motor, motor drive, and body. Each finger of the gripper could be individually controlled to hold anirregular object; the weight of the object was measured at the moment of gripping, and the gripping forcewas determined based on the results. In addition, the three-finger gripper could grasp the location of anobject within the gripper while grasping the object. The three-finger gripper was designed by first performingits structural analysis , followed by its manufacturing based on the results. A characteristic test of themanufactured three-finger gripper confirmed that it operated normally and safely while gripping an atypicalobject. Therefore, the proposed three-finger gripper will be able to safely hold irregular objects.