The invention introduce a robotic gripper designed to securely and effectively handle irregular objects without slippage or damage. This innovative gripper incorporates a fringing field-based capacitance sensor array integrated into its palm, enhancing grip through elastomeric Eco-flex rear cladding. Using a dual capacitive sensor array platform, it performs proximity sensing for shape estimation and identifies optimal gripping points, while also measuring and adjusting gripping pressure to prevent slippage. This method ensures continuous, adaptive gripping force, optimizing stability and reliability during object manipulation.
Figure (1) Robotic Gripper with ( PROXSENSAR, CAPSENSAR )
Existing grippers lack the awareness necessary for damage-resistant, slip-free handling of delicate tasks. Their complex computational and mechanical mechanisms render them impractical for widespread commercial use, compounded by their high cost. Moreover, these grippers are typically designed to handle a variety of shapes without specialized capabilities, which poses challenges with objects of irregular shapes like round or curved surfaces. Additionally, integrating features into grippers using traditional manufacturing methods requires additonal assembly processes.
- Provides in-situ automation for monitoring object slippage or local deformation post-gripping.
- Enables real-time adjustment of gripping force to prevent object deformation or slippage.
- Integrates face shape estimation and gripping force measurement to simplify electrical circuitry.
- Features low power consumption and offers highly stable, repeatable performance, ideal for commercial applications.
- Utilizes ink-jet printed electrodes and 3D printed robotic arms for efficient, material waste-free fabrication
- Cost-effective and suitable for batch production.
The present invention involves the design and development of smart robotic gripper (ROBOGRIP). This cognitive tasks of the ROBOGRIP is achieved using fringing field based capacitive sensor array (CAPSENSAR) integrated on the robotic gripper palms using 1 mm thick elastomeric Eco-flex rear cladding for enhanced gripping. The ROBOGRIP uses the dual sensor array platform of the CAPSENSAR (device) to execute (a) proximity sensing during shape estimation and identification of agreeable pair of gripping face of the object and (b) pressure sensing to measure the gripping pressure. The CAPSENSAR consist of 5×4 array of inkjet printed graphene electrodes on either side of bendable polyimide (PI) sheet of thickness 30 μm, serving as the dielectric. A 300nm thin polyvinyl alcohol (PVA) layer is used as the encapsulation layer on the top electrodes. The device operates in the dynamic range of 0-18 cm, providing high sensitivity of 0.07 pF/cm at proximal distance d=1 cm. Due to its ease of fabrication, high electrical stability and repeatability of output signal in addition to good sensitivity and three times enhanced dynamic range as compared to previously reported devices, the device is individually designed for commercial success as proximity sensor array.
The invention is at the stage of Basic research/Concept /Protocols development.
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The invention can be fabricated in a waste-free manner which is environmentally safe. The invention helps to streamline industrial processes and promotes safety and efficiency in manufacturing industry and assembly lines. It can also be used in hospitals leading to advancements in healthcare.
The invention of this robotic gripper finds applications across various domains requiring precise and secure handling of irregular objects. In manufacturing industries, particularly in assembly lines and warehouses, the gripper can enhance efficiency by securely gripping and manipulating components of different shapes and sizes without causing damage or slippage. In logistics and packaging, it can automate the handling of diverse packaging shapes, improving throughput and reducing errors. Additionally, in healthcare and biomedical fields, the gripper's gentle yet secure grip makes it suitable for handling delicate instruments and biological samples. Its adaptive gripping force and sensing capabilities also hold potential in robotics research and development.
Geography of IP
Type of IP
202121058266
422349