A multi-fingered end effector for unstructured environments

In a wide range of robotic tasks, the unstructured nature of the environment may preclude the use of a conventional end effector. The paper considers one approach to the design of a reconfigurable three-fingered end effector. The finger mechanism used in this design is based on previous work at the University of Southampton. The end effector design offers considerable flexibility, particularly in the range of objects that can be handled, both in shape and mass, over the previous designs. The paper discusses the mechanical structure of the end effector and its control. In order to achieve satisfactory control a novel sensor capable of detecting both slip and applied force has been developed. The proposed controller includes a set of high level commands to orient the gripper, together with a fuzzy logic approach to control the fingertip force, once contact has been made with the object