A functional prototype of a friction-based object slippage detection gripper for robotic grasping and manipulation has been designed and built. Object grasping and manipulation experiments have been successfully performed to study the appropriateness of the methodology and the newly built slippage detection gripper. The main advantage of this slippage detection method is that slippage detection is an inherent capability of the sensing element, and not a derived capability like that of sensors based on vibration. This slippage detection and control strategy is simple by design and low in cost, but robust in function. It has the potential to be used in a variety of environments such as high temperatures, low temperatures and underwater. The robustness of the design makes it highly suitable for grasping and manipulating safely a large range of object weights and sizes.
This paper presents a newly developed parallel gripper prototype capable of sensing grasp force, tangential force and slippage. In this design the gripper itself is used as part of the sensing strategy rather than just being simply a structural support for other sensors. The sensing capability of this gripper is simple in design and reliable. The sensing strategy can be customised to specific applications such as the ability to handle large loads while maintaining its ability to detect slippage as reliably as when handling lighter loads.