DESIGN OF EFFECTIVE SUCTION FORCE SENSIBLE VACUUM GRIPPER BY A 6-AXIS FORCE SENSOR
Abstract:
In the field of robotics and automated systems, vacuum grippers are widely utilized for handling objects with different shapes and sizes. However, designing an effective suction force control system for a vacuum gripper poses challenges due to the variability in object properties and environmental conditions. This abstract presents the design of a vacuum gripper that incorporates a 6-axis force sensor to enhance its performance by providing real-time feedback on the suction force.
The proposed vacuum gripper employs a combination of a suction cup and a 6-axis force sensor, enabling it to measure both the normal and shear forces applied to the object during grasping and manipulation. By accurately sensing the forces, the system can dynamically adapt the suction force based on the object’s weight, surface condition, and grip stability requirements.
The design begins with the selection of an appropriate suction cup size and material to suit the target objects. The 6-axis force sensor is integrated into the gripper mechanism to measure the forces exerted in all directions and orientations. A control algorithm is developed to process the force feedback and adjust the suction force accordingly, ensuring optimal grip stability and object handling.
To validate the effectiveness of the proposed design, experiments are conducted using various objects with different weights, shapes, and surface conditions. The suction force is dynamically adjusted based on the force sensor feedback, maintaining a stable grip throughout the manipulation tasks. The experimental results demonstrate the improved performance and versatility of the suction force sensible vacuum gripper compared to traditional vacuum grippers that lack force sensing capabilities.
Overall, the design of an effective suction force sensible vacuum gripper incorporating a 6-axis force sensor offers significant advantages in terms of adaptability, precision, and safety during object handling tasks. This research contributes to the development of advanced robotic systems capable of handling a wide range of objects efficiently and accurately, paving the way for increased automation in industries such as manufacturing, logistics, and warehouse operations.