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Minimal sensing approach of an underactuated flexure based gripper for agri-food applications

Korenblik, J. (2021) Minimal sensing approach of an underactuated flexure based gripper for agri-food applications.

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Abstract:Underactuated flexure based grippers are relative new in the field and have promising applications in agro-food robotic. The shape adaptability of the underactuated kinematics makes it easier to grasp a variety objects without multiple actuators. Also high gripping accuracy may be expected due to the deterministic behaviour of the flexures. The deterministic behaviour gives the opportunity to extract gripping information such as contact poses, object size and contact forces from a minimal number of sensors. In this research a displacement sensor and actuation current sensor are selected to extract this gripping information. This resulted in an actuator force estimate with a 0.08 N accuracy, drive stiffness estimate of 20 % compared to the simulation, object diameter estimate with an uncertainty of less than 0.15 % and contact force estimate with an accuracy of 2 %. This method is proved and is determined as accurate by obtaining the gripping pose estimate, object diameter estimate and contact force estimate.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:52 mechanical engineering
Programme:Mechanical Engineering MSc (60439)
Link to this item:http://purl.utwente.nl/essays/88124
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