Robotic Gripper with Force Feedback System

Abstract

The aim of the project is to design an accurate responsive robot gripper that is capable of measuring the grasp force exerted on the object and varying its grasp force depending the material of the object. A parallel gripper is used which is actuated by a servo motor. The force is measured by mounting the force sensor on one finger of the gripper and the current to the servo motor is measured by a load current sensor. Hence by combing the force measured with the load current consumption of the servo motor, a control system is designed which will help in adjusting the grasp force of the gripper.