Modelling and controlling of modified robotic gripper mechanism using intelligent technique scheme

摘要

The process of grasping and diverting loads is essential in many industrial applications. Robotic grippers have significantly evolved over the last three decades to carry out these operations. Robotic gripper design focuses primarily on the interaction between the object and the grasping finger. In this study, a developed robotic gripper design by adding a cam was prepared using MATLAB Simulink and a fuzzy-PID controller and derivative of the required mathematical equations. The developed gripper investigated the follower path according to the cam surface curve, which was not included in previous studies. The provided gripper model is designed uncomplicated, but it can perform particular tasks that conventional grippers may not be able to perform with the same accuracy and efficiency. The model has been tested under many complex and erratic operational conditions, and its robustness has appeared clearly from the simulation results. The results showed the power of the proposed gripper mechanism and its intelligent controller concerning the adequate reduction in the rise time, maximum percentage overshoot, steady-state error, and settling time.