Three-Fingered Synchronous End-effector with Force Feedback
Special thanks to Transducer Techniques for helping us fund the DPM-3.
Planetary Gear Set and Motor Testing
Components: Gear set, Acme power nut, thrust bearing, main finger,motor mount, Acme lead screw,and guide rail. Cutting Edge Robotics Team: From bottom left to right, William Mann, Jason McPeak, Greg Pasienski,and Jessica Watkins.
Demonstration Close-up of gearset
The picture below shows the DPM-3, the control circuit, and the end-effector. The DPM-3 has a high-speed microprocessor that can be used for a variety of monitoring and control applications. The desired end-effector gripper force can be easily dialed into the DPM-3. The control circuit uses relays and ladder logic to control the end-effector. The system is fully automatic. A momentary contact activates the circuit. The fingers synchronously close until an object is encountered or the inside microswitch is tripped. Once the dialed in force has been established a relay in the DPM-3 shuts off power to the motor. To release an object clutched by the grippers, a momentary contact switch is pushed. The fingers then move synchronously outward until the outside microswitch is tripped which in turn shuts down the circuit. The end-effector can easily be controlled by an industrial robot using two momentary contact switches and alarm relays on the DPM-3.
Rendered view of the redesigned end-effector base. The base shall be reduced to half of its original height and six holes will be drilled to reduce weight.
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