Design and Development of Smart Gripper with Vision Sensor for Industrial Applications

摘要

In recent years, robotic gripper is widely used for different tasks in various fields. Grippers operate with industrial robots for handling and manipulation of objects. Grippers also operate with hard automation for assembling; micro assembling, machining and packaging. In this paper, a smart robotic gripper is designed and developed with vision sensor for industrial applications. This vision sensor is employed to detect the presence of the object and send the information to the robot. Gripper with two fingers has been proposed. This smart gripper adopts force sensor that mounted into the finger tip in order to control the force applied when working with wide range of objects that having different weight without slipping or crushing it. Four servo motors are used to drive the four degree of freedom (D. O. F) of a robotic arm. Basic Stamp 2 microcontroller (BS2) is used as a controller unit to control the position and the movement of the smart gripper. A series of experiment shows that the proposed system is able to detect the present of the object and send the information/command directly to the robot to execute grasping and lifting phase of the object to the desired location that has been assigned.