| Issue |
MATEC Web Conf.
Volume 121, 2017
8th International Conference on Manufacturing Science and Education – MSE 2017 “Trends in New Industrial Revolution”
|
|
|---|---|---|
| Article Number | 08008 | |
| Number of page(s) | 8 | |
| Section | Mechatronics and Robotics | |
| DOI | https://doi.org/10.1051/matecconf/201712108008 | |
| Published online | 09 August 2017 | |
Adaptive robotic end-effector with embedded 3D-printed sensing Circuits
University POLITEHNICA of Bucharest, Department of Machine and Production Systems, 313 Splaiul Independentei, sector 6, Bucharest, Romania
* Corresponding author: aurelianzapciu@yahoo.com
The paper presents the development and testing of an adaptive robotic end-effector used for manipulation of sensitive objects such as fruits and vegetables. The end-effector uses Fin-Ray-structured 3D-printed fingers with embedded conductive 3D-printed sensing circuits, which give the end-effector capacitive touch sensing and bend sensing capabilities. The conductive 3D-printed circuit is connected to a control circuit consisting of a low-current DC power source and a microcontroller. As the end-effector finger is subjected to various forces and other external stimuli, changes in the electric signals that run through the conductive circuit of the end-effector finger are detected by the microcontroller. The electric signal is processed in order to provide real-time information about contact detection, finger position or gripping force. This information was used for process monitoring purposes and as feedback for the end-effector actuator.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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