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Open Access
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Pritam Sonkusare, Rajas Thombre, Arpit Wagh, D.G.Ganage, S. A. Wagh
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- Student, Student, Student, Assistant Professor, Assistant Professor Department of Electronics & Telecommunication, Sinhgad College of Engineering, Savitribai Phule University, Department of Electronics & Telecommunication, Sinhgad College of Engineering, Savitribai Phule University, Department of Electronics & Telecommunication, Sinhgad College of Engineering, Savitribai Phule University, Department of Electronics & Telecommunication, Sinhgad College of Engineering, Savitribai Phule University,, Department of Electronics & Telecommunication, Sinhgad College of Engineering, Savitribai Phule University, Maharashtra, Maharashtra, Maharashtra, Maharashtra, Maharashtra India, India, India, India, India
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Abstract
nThis research presents the development and validation of a novel three-finger robotic gripper system enhanced with force feedback capabilities. Leveraging Force-Sensing Resistor (FSR) sensors and servo actuators, the gripper is engineered to dynamically adjust its grasp based on real-time force feedback. Through a series of iterative design iterations and experimental validation, the gripper demonstrates robustness and adaptability in various gripping scenarios. The integration of force feedback allows the gripper to autonomously modulate grip strength, ensuring both secure object manipulation and protection against excessive force exertion. Performance evaluations conducted showcase the gripper’s ability to achieve precise and stable grasping of objects with diverse shapes, sizes, and materials. The incorporation of force feedback enables the gripper to independently adjust its grip strength, guaranteeing safe object handling and defense against overuse of force. Tests of performance demonstrate how well the gripper grasps objects of various sizes, shapes, and materials with accuracy and stability. the development of robotic manipulation systems through the addition of a tactile feedback mechanism that improves industrial and collaborative robotics applications’ operational efficiency and safety. The gripper can adapt to changing environmental conditions and object properties thanks to its dynamic grasp adjustment in response to real-time force feedback. This feature enhances overall performance and reliability in a variety of operational settings. This research contributes to the advancement of robotic manipulation systems by introducing a tactile feedback mechanism that enhances both operational efficiency and safety in industrial and collaborative robotics applications.
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Keywords: FSR, PWM, servo actuator, robotic gripper, SLAM
n[if 424 equals=”Regular Issue”][This article belongs to Journal of Mechatronics and Automation(joma)]
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References
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1. Saboukhi, Alireza & Rahimi Gorji, Masoud & Amirpour, Ehsan & Savabi, Mohammad & Fesharakifard, Rasul & Ghafarirad, Hamed & Rezaei, Seyed. (2019). Design and Experimental Analysis of a Force Sensitive Gripper for Safe Robot Applications.
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| Volume | 11 | |
| [if 424 equals=”Regular Issue”]Issue[/if 424][if 424 equals=”Special Issue”]Special Issue[/if 424] [if 424 equals=”Conference”][/if 424] | 01 | |
| Received | April 25, 2024 | |
| Accepted | May 3, 2024 | |
| Published | May 21, 2024 |
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