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All Journal Indonesian Journal of Electrical Engineering and Informatics (IJEEI)
Catalina Castillo-Rodriguez
Nueva Granada Military University
Computer Science & IT Electrical & Electronics Engineering

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Flexible Gripper, Design and Control for Soft Robotics Catalina Castillo-Rodriguez; Robinson Jimenez-Moreno
Indonesian Journal of Electrical Engineering and Informatics (IJEEI) Vol 9, No 4: December 2021
Publisher : IAES Indonesian Section

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.52549/ijeei.v9i4.3325

Abstract

This paper presents the 3D design of a flexible gripper used for gripping polyform objects that require a certain degree of adaptation of the effector for its manipulation. For this case, the 3D printing of the gripper and its construction is exposed, where a fuzzy controller is implemented for its manipulation. The effector has a flexo resistance that provides information of the deflection of the gripper, this information and the desired grip force are part of the fuzzy controller that seeks to regulate the current of the servomotors that make up the structure of the gripper and are responsible for ensuring the grip. An efficient system is obtained for gripping polyform objects involving deflection of up to 5 mm with a current close to 112 mA.
Co-Authors Robinson Jiménez-Moreno