Development of an Intelligent Gripper that Determines the Gripping Force According to the Weight of the Object

In this paper, we describe the development of a two-finger intelligent gripper that can determine the gripping force according to the weight of an object. The two-finger intelligent gripper features two 3-axis force sensors attached to the gripper plate. When this gripper grips an object, it simultaneously measures the weights Fx, Fy, and Fz in the x, y, and z directions of the object, calculates the weight of the object using this, and determines the force to grip the object according to the calculated weight. When the gripper safely grips an unknown object, it securely grips the object based on the determined gripping force. Structural analysis was performed using software to design the gripper, and a two-finger intelligent gripper was manufactured based on the design, and the manufactured two-finger intelligent gripper was subjected to a characteristic test. As a result, the manufactured two-finger intelligent gripper determined the gripping force according to the weight of the object, and was able to safely grip various objects using it.