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This paper presents the sensory system of an adaptive gripper with five jaws, each independently actuated by a parallelogram mechanism guided with a translation coupling. The sensory system consists of a slip sensor located at the jaw level and a force sensor placed on the most stressed element of the parallelogram mechanism. Structural and constructive details of the sensors’ design and implementation are provided, along with the final constructive form of the pentamobile adaptive gripper, highlighting the sensors’ placement.

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Sensory System of an Adaptive Gripper for Industrial Robots

  • 会议论文

  • 发表日期：

    2025年

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  • Cezar Frîncu,
  • Ioan Stroe,
  • Ionel Staretu

摘要

This paper presents the sensory system of an adaptive gripper with five jaws, each independently actuated by a parallelogram mechanism guided with a translation coupling. The sensory system consists of a slip sensor located at the jaw level and a force sensor placed on the most stressed element of the parallelogram mechanism. Structural and constructive details of the sensors’ design and implementation are provided, along with the final constructive form of the pentamobile adaptive gripper, highlighting the sensors’ placement.