Prototype three finger gripper

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  • 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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