Design and control Implementation of Adaptive Soft Gripper Installed on KUKA KR6 R900 Robot Arm | ||||
| Engineering Research Journal (Shoubra) | ||||
| Volume 51, Issue 4, October 2022, Page 239-248 PDF (1.05 MB) | ||||
| Document Type: Research articles | ||||
| DOI: 10.21608/erjsh.2022.156200.1073 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
Ehab Mohamed Faidallah   1; Shady Maged2; Mahmoud Alsamanty3; Yehia Hossameldin4; Saber Abdrabbo3
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| 1the higher technological institute 10th of Ramadan city | ||||
| 2Mechatronics Engineering Department Ain Shams University Cairo, Egypt | ||||
| 3Department of Mechanical Engineering Department, Benha University, Egypt | ||||
| 4Department of Mechatronics Engineering Department, Future University, Egypt | ||||
| Abstract | ||||
| For the last decades, industrial manipulator robots have been the best way for factories to automate their applications to save money and time with mass production. There are many applications the industrial robot can do like welding, assembly, packaging, and pick and place. So, the researcher head to improving and developing the end-effectors tools for wide application for industrial robots. This paper presents the full KUKA KR6 R900 kinematic with complete workspace analysis. Also designs and implements an adaptive soft gripper with a low-cost budget and lightweight as an end-effector tool. This gripper can grip various objects of various shapes, so it can save time instead of wasting time by replacing the grippers to fit the object or the product. The results show that the adaptive gripper can successfully grasp many objects of various shapes. Also, it can grasp gently without harming or damaging the object. Furthermore, the kinematics solution of the KUKA manipulator robot was presented. Finally, the complete workspace for the KUKA KR6 R900 was analyzed and presented. | ||||
| Keywords | ||||
| KUKA KR6 R900; Adaptive Gripper; Serial Manipulator; 6-DOF | ||||
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