24-09-2014, 03:09 PM
Abstracts: Generally, the gripping off material is done by the grippers or mechanical fingers. The number of fingers can be two, three or even as high as five. Though in the industrial robotics due to less complications, two finger grippers are used. But this mechanism have a limitation.it can only perform task which involves the rigid shape material such as boxes, metal parts etc. But When the objects are deformable and of undefined shapes and size like sacks or bags. It would be difficult to grasp it with the help of conventional robotic end effector because of the shape of object. Using this end effectors are not efficient as well as it can damage the material itself. So the problem is to develop a grasping mechanism for the deformable objects like the bags, sacks etc. which have an undefined shapes, size and dimensions. Here the principle of friction will be used to lift the sacks between the two rollers. The sacks will get stuck between the rollers randomly due to the friction between the surface of sacks and roller material. Then the sacks can be held properly and transported to the required place easily, where the roller move outward so the sacks are withdrawn out of the end effectors rollers. This project describes design, modeling, planning and control of robotic end effector which deals with deformable objects, which have many important applications in postal services, food handling, automobile manufacturing, leather, and packaging.