Making a 3 DOF gripper using Servo mechanism

A 3 Degree-of-freedom robotic gripper is a general requirement in the factory's assembly line now-a days.

I am a part of the team which participated and won the "Best economical robot award" in an international robotics competition "ROBOCON". We have fabricated a 3 DOF gripper, which we later changed it to a magnetic gripper according to our ease. The Pictures are added for reference.

The bigger robot is Parent bot and the small bot below is child bot, according to the problem statement of ROBOCON'2014.

You can see two kinds of grippers. One, a 3 DOF magnetic gripper and the other, a Vacuum gripper. Both of the grippers are provided an extra 2 DOF by the linear guide assemblies on the chassis of the bot and another across the vertical length of the bot.

The magnetic gripper is actuated by 3 Hitech high torque servos to provide x,y and z axis movement for the gripper and an extra horizontal and vertical movement is provided by linear actuators.

Top Comments

neilk over 9 years ago in reply to nikhil22

Thanks @nikhil22 That document is very daunting for someone only on the periphery of robotics, like me
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Former Member over 9 years ago in reply to nikhil22

.
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Former Member over 9 years ago

Great..!!
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nikhil22 over 9 years ago in reply to neilk

Currently, I'm not having other photos, but I've attached the problem statement of robocon'2014.
As far as the code is concerned, it is modular, having incorporated a module of code for each subsystem, say, machanumdrive, ps2control, communication subsystem, sensor subsystem, servo code etc.....we used arduino mega as master and 4 nanos as slaves dedicated for taking precision encoder counts as a drive feed-back; this was because of in-sufficient clocking of mega at 16mhz, as it sometimes misses some counts, but fortunately, this year, we found a much better and cheaper substitute for that, Teensy microcontroller, at over 72mhz and also implemented dead-reckoning along with it.......Result, a much rugged, fast and stable drive.
Any more doubts, please feel free to ask.........
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neilk over 9 years ago in reply to nikhil22

Hi nikhil22 Great! I would like to see some more detailed photos of the robotic hardware and at least an outline of the control code, if not the full code.

Many thanks

Neil
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nikhil22 over 9 years ago in reply to neilk

Ya sure.....could you be more specific about which sub-system to be explained in more detail............
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neilk over 9 years ago

That looks very impressive. Would love to see some more detailed information

Neil
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