| Abstract [eng] |
The design of the adaptive manipulator gripper is considered in this final Master‘s work. Various types of grippers are analyzed, the review of patents and scientific publications related to considered type grippers is made. The main control systems are discussed. In the project and research parts, the gripper layout scheme is proposed and designed gripper model, which meets requirements. Necessary pressure force of the gripper is calculated and actuators are chosen. Durability of gripper construction is calculated by using “Solidworks” software. Taking to the account the requirements, force and distance sensors are selected; drawings of the gripper components are provided. The scheme of the gripper control is made, control components are indicated and motion algorithm is provided. The “Arduino” controller was chosen for gripper control and control code was written. Conclusions and recommendations are presented in the final part of the thesis. |
