Design And Development Of Position Control For Robot Gripper Mechanism

Ling, Stephen Kie Kai (2019) Design And Development Of Position Control For Robot Gripper Mechanism. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

Text (24 Pages) Design And Development Of Position Control For Robot Gripper Mechanism.pdf - Submitted Version Download (1MB)

Abstract

A robotic gripper is an end effector of robot arm that enables the automation system to manipulate and handling object.The objective of this project is to design and fabricate a robotic gripper mechanism with single degree-of-freedom (DOF) gripper coupled with DC geared brushed encoder motor using 3D printed parts. Besides, this project also aimed to design and compare the controller for position control of gripper mechanism using step inputs as well as to evaluate the performance of chosen controller under different testing environment and trajectory motion. The major challenge in this project is to obtain precise position of gripper validated through different input applied to the gripper as well as while it is undergoing a series of trajectory motion. In this project, a mechanical structure of robot gripper is fabricated with supported parts such as support frame and flange coupling are sketched in SOLIDWORKS and 3D printed for assembly. Controller tuning is done manually in Arduino IDE until minimal overshoot and shortest rise time and settling time are obtained and the control gains KP, KI, KD are identified. The result showed that PID control appeared to be the best choice for development of position control for robot gripper mechanism as it provides moderate overshoot correction without sacrificing accuracy and reduction in rise time and settling time that ensures robot gripper’s efficiency.The robot gripper is further tested on its performance under applied resistance and trajectory motion. PID position control is achieved as the gripper jaw is able to move to the desired position with minimal position error in shortest time. Error analysis supported the choice of PID controller to be applied in the development of position control for robot gripper mechanism with a RMSE value of 19.629 over a 12000 datum range. Experiments on object gripping revealed that the relationship between the rotation angle at actuating link and the displacement at target link is linear with a factor of 5/6. In a nutshell, this robot gripper can be applied and utilized in various application with the acceptable gripping position accuracy.

Actions (login required)

View Item