By
Matthew Fenech
MCAST BTEC HND FINAL YEAR PROJECT
The Gripper
Aims
 Development of a new grasping method for
the Explosive & Ordinance Dept (EOD).
 Ability to grasp regular & irregul...
Research
 Human hand analysis
 Previous developed grippers: Barret Hand
& Utah hand
 Methods of actuation
 Controllers...
Design & General Specs
 CAD modelling
 Force Sensing
Resistor
 Aluminium
 Servo Motors
actuation
Pulleys
Slip
Clutch
S...
Development
 Cutting & Drilling,
grinding
 Milling
 Lathe work
 Sheet Metal work
 Programming &
Wiring
Development
Results
 Software Response
for 1 finger test
 For 10N (1.02Kg)
voltage return 3.5V
 Motor current 720mA
Results
Problems encountered &
solutions
 Fingers operating
sequentially due to
parallel processing
problem
 Erratic operation d...
Problems encountered &
Solutions
Cracked track
Video…
Future Development
 Reduced sizing
 Included tensioning & braking system
 Different Sensing technologies
 Flat motors ...
Conclusion
 Programming skills
 The use of machinery & equipment to
produce my designed products
 Procurement of produc...
Any Questions ?
Prototype three finger gripper
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Prototype three finger gripper

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  • Transcript of "Prototype three finger gripper"

    1. 1. By Matthew Fenech MCAST BTEC HND FINAL YEAR PROJECT
    2. 2. The Gripper
    3. 3. Aims  Development of a new grasping method for the Explosive & Ordinance Dept (EOD).  Ability to grasp regular & irregular objects  Safe Handling
    4. 4. Research  Human hand analysis  Previous developed grippers: Barret Hand & Utah hand  Methods of actuation  Controllers, Sensing methods  Components, foreign markets
    5. 5. Design & General Specs  CAD modelling  Force Sensing Resistor  Aluminium  Servo Motors actuation Pulleys Slip Clutch Sensing area
    6. 6. Development  Cutting & Drilling, grinding  Milling  Lathe work  Sheet Metal work  Programming & Wiring
    7. 7. Development
    8. 8. Results  Software Response for 1 finger test  For 10N (1.02Kg) voltage return 3.5V  Motor current 720mA
    9. 9. Results
    10. 10. Problems encountered & solutions  Fingers operating sequentially due to parallel processing problem  Erratic operation due to lack of current from the power supply  Servo overheating  Sensor problems: track cracks due to bending Cracked track
    11. 11. Problems encountered & Solutions Cracked track
    12. 12. Video…
    13. 13. Future Development  Reduced sizing  Included tensioning & braking system  Different Sensing technologies  Flat motors application  Remote application by the use of radio frequency transmission
    14. 14. Conclusion  Programming skills  The use of machinery & equipment to produce my designed products  Procurement of products from foreign markets  Ability to work under pressure
    15. 15. Any Questions ?
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