Publication

Abstract : The aim of this work is to design and develop efficient and low-cost end effector for holding and handling of fragile objects, which is to be used in the industrial automation and mainly for the purpose of domestic robots. The design consists of three systems: the sensor system, the control module, and the robotic end effector. Different objects have different stress-handling capabilities, when pressure is applied on the object goes beyond the yield point, and then object either deforms or breaks. So, the aim of this work is to utilize that strain being applied to the object for holding the object and handling it carefully. This end effector works with a single degree of freedom. The end effector is designed to have three grasping fingers out of which one is stable with the sensor on it and other two fingers are attached to a single joint with common motion to both fingers.