Pharma usable robotic gripper design and fabrication by local materials

In the experimental work, grasping and manipulation of deformable objects by a three fingers robotic gripper has been carried out. The required fingertip grasping forces and velocities vary with change in object size due to deformation has also made. The variation of the internal force with the change in fingertips and object contact angle has been investigated in details. From the results, it is concluded that it is very difficult to manipulate an object if the finger contacts angle is not between 30o and 70o, as the internal forces or velocities become very high outside this range. Hence, even if the object is inside the work volume of the three fingers it would still not possible to manipulate it. A simple control model is proposed which can control the grasping and manipulation of a deformable object. Experimental results are also presented to prove the proposed method.