1. By
Matthew Fenech
MCAST BTEC HND FINAL YEAR PROJECT

2. The Gripper

3. Aims
 Development of a new grasping method for
the Explosive & Ordinance Dept (EOD).
 Ability to grasp regular & irregular objects
 Safe Handling

4. Research
 Human hand analysis
 Previous developed grippers: Barret Hand
& Utah hand
 Methods of actuation
 Controllers, Sensing methods
 Components, foreign markets

5. Design & General Specs
 CAD modelling
 Force Sensing
Resistor
 Aluminium
 Servo Motors
actuation
Pulleys
Slip
Clutch
Sensing
area

7. Development
 Cutting & Drilling,
grinding
 Milling
 Lathe work
 Sheet Metal work
 Programming &
Wiring

8. Development

9. Results
 Software Response
for 1 finger test
 For 10N (1.02Kg)
voltage return 3.5V
 Motor current 720mA

10. Results

11. 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

12. Problems encountered &
Solutions
Cracked track

13. Video…

14. Future Development
 Reduced sizing
 Included tensioning & braking system
 Different Sensing technologies
 Flat motors application
 Remote application by the use of radio
frequency transmission

15. Conclusion
 Programming skills
 The use of machinery & equipment to
produce my designed products
 Procurement of products from foreign
markets
 Ability to work under pressure

16. Any Questions ?