Three-Fingered Gripper for Multiform Object Grasping with Force Feedback Sensing Control

The purpose of this paper is to describe the design of a three-finger gripper with a force feedback control. Based on commercial three-fingered grippers, this research aims to design and implement an electric gripper with rapid prototyping materials and the addition of Force Sensing Resistor (FSR) on the tip of each finger, attached with a semi-sphere silicone piece. The gripper with the FSR sensors was validated with objects of different materials and forms. The implemented gripper was integrated into an industrial robotic arm in order to simulate its application in real scenarios. Finally, grasping and displacement experiments were performed to objects with different geometries and sizes using the proposed gripper integrated into the robotic arm.