Design study of gripping module for multi-size objects with tactile sensory feedback control

Automated grasping for a wide range of objects is challenging yet highly demanded for different applications. The technology for automated grasping a single object is mature, but some conventional gripping modules operation for grasping objects with different dimensions via tele-operation is ineffective and infeasible in some circumstances like high altitude or hazardous environment. To tackle these concerns, we have designed a gripping module comprising a four-bar linkage dual-finger gripper and arrays of tactile sensors on the gripping surface. The gripper has been integrated with force feedback control to monitor the gripper-object interaction during their movements. In this paper, we will discuss the mechanical design of the gripper, the work flow and the feedback control mechanism.