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Intelligent Gripper
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The human hand is a great generic gripper as it can grasp objects of unknown shapes, weights and surfaces. Most robotic grippers in today's industry have to be custom made and tuned for each application by engineers, thus many man hours are required to get the desired behavior and repeatability. To be able to adapt some of the capabilities of the human hand into robust industrial robotic grippers would enhance their usability and ease the tuning by engineers once installed.

This thesis discusses the development of a robust intelligent gripper for industrial use, based on piezo sensors which have the ability to both sense slippage and detect objects. First, an experimental sensor prototype was developed successfully using an amplification circuit and algorithms implemented in LabView. Secondly, a final prototype containing a signal board, an FPGA board, a simple gripper with linear units and more robust sensor modules where developed.

The thesis further discusses which parts of the intelligent gripper that have been successfully implemented within the project time frame and which parts that needs to be further implemented, tested and improved.

Abstract [sv]

Den mänskliga handen är en fantastisk universiell gripklo då den kan greppa objekt av okänd form, vikt och yta. De flesta gripklor i dagens industri måste vara specialgjorda och anpassas för varje applikation av ingenjörer och därmed behövs otaliga mantimmar för att få önskat beteende och repeterbarhet. Att kunna anpassa vissa av den mänskliga handens egenskaper till en robust industriell robotgripklo skulle utöka dess användarområde och lätta upp anpassningen för ingenjörer när den väl är installerad.

Detta examensarbete diskuterar hur en robust intelligent gripklo har blivit utvecklat for industriellt bruk baserad på piezo sensorer som har förmågan att känna av glidning och initiell kontakt av objekt. Först, en experimentiell fungerande sensorprototyp utvecklades med hjälp av en förstärkningskrets och algoritmer implementerade i LabView. Därefter utvecklades en slutlig prototyp innehållandes ett signalkort, ett FPGA-kort, en enkel gripklo med linjärenheter och mer robusta sensorer.

Examensarbetet tar vidare upp vilka delar som framgångsrikt blivit implementerade och vilka delar som behöver utvecklas ytterligare, testas och förbättras.

Place, publisher, year, edition, pages
2013. , 75 p.
Keyword [en]
robotics, gripper, intelligent, FPGA, robust, sensor, industrial
Keyword [sv]
robotik, gripper, intelligent, FPGA, robust, sensor, industriell
National Category
Robotics Signal Processing Embedded Systems Software Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-22862OAI: oai:DiVA.org:mdh-22862DiVA: diva2:665070
External cooperation
Etteplan
Subject / course
Electronics
Presentation
2013-01-31, Västerås, 16:00 (English)
Supervisors
Examiners
Available from: 2014-01-10 Created: 2013-11-18 Last updated: 2014-01-10Bibliographically approved

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CiteExportLink to record
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