Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Development of Intelligent Gripper Control Device to Safely Grip Unknown Objects

미지물체를 안전하게 잡기 위한 지능형 그리퍼의 제어장치 개발

  • Kim, Han-Sol (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.) ;
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering(ERI), Gyeongsnag National UNIV.)
  • 김한솔 (경상국립대학교 제어계측공학과) ;
  • 김갑순 (경상국립대학교 제어계측공학과)
  • Received : 2022.02.07
  • Accepted : 2022.02.16
  • Published : 2022.04.30
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Abstract

In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknown objects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit, and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which the gripper is attached are measured and calculated at high speeds. The gripping force is determined based on this value, and the object must be safely gripped with the determined value. A basic characteristic test of the control device of the manufactured intelligent gripper was conducted, and it was confirmed that it operated safely.

Keywords

Acknowledgement

본 과제(결과물)는 2021년도 교육부의 재원으로 한국연구재단의 지원을 받아 수행된 지자체-대학 협력기반 지역혁신 사업의 결과입니다.(2021RIS-003)

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