| Abstract: | The logical specification of a microprocessor-based air-servo-controlled robot hand is presented, as well as its actual implementation. This hand can accommodate a wide variety of workpieces and allows for flexible assembly through the use of an automatic quick-change fingertip. The changeable set of gripper fingers is equipped with sensors, including a tactile force sensor, a crossfire sensor, a proximity sensor, and a slip sensor. A changeable set of gripper fingers with different sensing ranges can cope with certain subranges of the workpiece spectrum. A considerable cost saving is achieved by not changing the gripper itself. This specially designed hardware and software system includes position and force feedback. A PUMA 560 is used to test the success of the entire process. |
