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Design and Fuzzy Control of a Pneumatic Advanced Gripper

ABSTRACTA gripper consisting of two fingers and one opposing mobile palm is presented. Each finger has three degrees of freedom, is modular and can be assembled in different ways. Each degree of freedom is operated by one pneumatic actuator, powered with digital, 2 ways/2 positions high frequency, PWM driven pneumatic valves. The hand is provided with piezoresistive tactile sensors and controlled in fuzzy logic. The control was developed in order to ensure constant contact forces while grasping. It was experimentally tested which sensors are activated when stable grasping conditions for cylindrical objects are reached. The approach procedure of the fingers to the object to be grasped let the system determine if the object position in the workspace let a stable grasp to be possible. Only when this condition is verified the grasping force is controlled.