소형 폐가전 선별을 위한 부족 구동 세 손가락 그리퍼 설계

초록

Grippers used in waste sorting systems employ two-finger grippers and suction grippers depending on the shape of the objects. In the case of sorting small-sized electronic waste, which exhibits complex shapes and diverse types, it is challenging to apply grippers that are suitable for certain specific shapes. In this study, a versatile gripper capable of handling a variety of shapes grasped by both two-finger and suction grippers was designed for sorting small-sized electronic waste. The developed gripper has three spring-driven fingers and is powered by a single motor, ensuring a simplified control. Moreover, the gripper can perform both parallel and encompassing grasping. Its grasping stability was verified by analyzing the grasping force for each posture of two common shapes. Additionally, the grasping stability was verified through experiments on five small appliances having different shapes. These findings can aid in developing a novel small-sized electronic waste sorting system.

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