Sekundarni povzetek: |
A gripper with an exchangeable configuration is presented in this thesis. Exchangeable configuration of the gripper allows changing the position of the fingers, therefore, the gripper is able to grasp a wider range of objects compared to standard grippers.
In the first chapter, the problem of grasping objects in the field of robotics is discussed. After that, the goals of the thesis are outlined.
In the second chapter different types of robotic fingers and grippers are presented. At the end of the chapter, different approaches to gripper reconfiguration are presented.
The third chapter describes the process of making the robotic gripper. Firstly, the methods of 3D printing, used filaments, and problems with 3D printing are presented. Secondly the process of making the robotic fingers and gripper using 3D modelling, 3D printing, and assembling are described.
In the fourth chapter the software of the robotic gripper is described. The functions of the controller, which are easy to use, are presented.
Lastly, in the fifth chapter, the durability of the robotic finger, the time of opening and closing, and the grasping test with different configurations are presented. Finally, the pros and cons and possible improvements of the system are discussed. |