The document describes the development of a new grasping method for explosive ordinance disposal (EOD). The goals were to create a gripper that could safely handle both regular and irregular objects. The design included CAD modeling of aluminum fingers actuated by servo motors and integrated force sensing resistors. Development required various machining and programming tasks. Initial testing showed the gripper could respond to forces of 1.02kg and identify voltages. However, problems with parallel processing, power supply, overheating, and sensor cracking were encountered. Future work could involve downsizing, added braking, different sensors, and remote control. The project improved the author's programming and machining skills for designing and building products.

1. By
Matthew Fenech
MCAST BTEC HND FINAL YEAR PROJECT

2. The Gripper

3. Aims
 Development of a new grasping method for
the Explosive & Ordinance Dept (EOD).
 Ability to grasp regular & irregular objects
 Safe Handling

4. Research
 Human hand analysis
 Previous developed grippers: Barret Hand
& Utah hand
 Methods of actuation
 Controllers, Sensing methods
 Components, foreign markets

5. Design & General Specs
 CAD modelling
 Force Sensing
Resistor
 Aluminium
 Servo Motors
actuation
Pulleys
Slip
Clutch
Sensing
area

7. Development
 Cutting & Drilling,
grinding
 Milling
 Lathe work
 Sheet Metal work
 Programming &
Wiring

8. Development

9. Results
 Software Response
for 1 finger test
 For 10N (1.02Kg)
voltage return 3.5V
 Motor current 720mA

10. Results

11. Problems encountered &
solutions
 Fingers operating
sequentially due to
parallel processing
problem
 Erratic operation due
to lack of current from
the power supply
 Servo overheating
 Sensor problems:
track cracks due to
bending
Cracked
track

12. Problems encountered &
Solutions
Cracked track

13. Video…

14. Future Development
 Reduced sizing
 Included tensioning & braking system
 Different Sensing technologies
 Flat motors application
 Remote application by the use of radio
frequency transmission

15. Conclusion
 Programming skills
 The use of machinery & equipment to
produce my designed products
 Procurement of products from foreign
markets
 Ability to work under pressure

16. Any Questions ?