Performance characterization and improvement of an underactuated robot gripper

Abstract:
Nowadays, the need of grippers able to work with any kind of objects in terms of different dimension, weight, shape, surface conformation and surface stiffness is deeply felt in robotic industrial applications. In this work an innovative underactuated pneumatic gripper is characterized through a series of experimental test, in order to evaluate its performance in working with different objects. Thus, both a theoretical and experimental evaluation of the forces that play a role in the gripping phase have been evaluated. After this first experimental phase, possible methods to improve the gripping performance have been conceived, studied and tested. In particular, in order to increase the weight that can be lifted, the proper application and exploitation of dry-adhesive systems have been investigated and compared to other techniques. A commercial dry-adhesive tape has been then characterized by tensile, shear and peeling test. After that, the proper area and position on the gripper fingers in order to increase the performance have been studied. Finally, new grasping comparative tests were performed showing the goodness of the idea.