Cable Driven Haptic Gripper
Lead: Kashmira Jadhao2015-2016 (Msc Project, Active)
Abstract
A telemanipulation system allows an operator to perform a task over a distance. The interface with the operator is called a master device. Most existing master devices consist of a single end-effector. However, many applications also require a gripping capability. Ideally the master device has low inertia while it can at the same time be made very stiff, so that forces can be fed back over a large bandwidth. This allows a realistic reconstruction of the forces experienced by the slave device in the remote environment.
Cable driven parallel manipulators are ideal candidates, because the motors have a minimal contribution to inertia and cables are lightweight. At TU Delft, several researchers have worked on the design and analysis of so-called Parallel Manipulators with Two End-Effectors, which enable grasping within a fully parallel architecture. At Universität Duisburg-Essen (UDE) researchers have extensive experience with cable-driven robots.
The aim of this MSc project is to combine the expertises of TU Delft and UDE and develop a proof-of-concept for a cable driven haptic master device with two end-effectors.
The University of Duisburg-Essen has extensive experience with cable-driven robots, such as this cable-driven high rack storage (source: https://www.pc-control.net/pdf/042013/solutions/pcc_0413_uni-duisburg_e.pdf)
Status:
Active