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MiscProjects Web>SensorizedGripper (30 Jun 2011, MarkCutkosky)
MiscProjects Web>SensorizedGripper (30 Jun 2011, MarkCutkosky)Sensorized Gripper Projects
useful links for mobile manipulation, sensors, hands:
Hand with PCB's Integrated into Fingers
The BDML is involved in project with Kenneth Salisbury's group to produce a simple sensorized gripper. Specifically, the BDML is working to fabricate force sensors that surround the fingers of the hand. In principle, these sensors are almost identical to the capacitive sensor technology developed for the HSR (Human Safe Robotics) project. This page is used to store useful information about the project.
BatchPCB.com order 10221, 11/05/09 (wrist, fingers, and sensors)
PCB Parts
| Qty/Hand | Description | MFG Part Num | Supplier | Datasheet |
|---|---|---|---|---|
| 12 | SM 2x3 right angle header 2mm pitch | 951250-4620-AR-PR | Digi-key | Datasheet |
| 12 | Dual PNP chip with biasing resistors | DDA144EU-FDICT-ND | Digi-key | Datasheet |
| 12 | Dual Schmitt NAND | SN74LVC2G132DCUR | Digi-key | Datasheet |
| 16 | 2x3 header socket 2mm pitch | SQT-103-01-L-D | Digi-key | Datasheet |
| 4 | Shift register | CD74HCT164M | Digi-key | Datasheet |
| 4 | Power line capacitor 1uF 0603 | EMK107BJ105KK-T | Digi-key | |
| 4 | SM 6 position Picoblade socket | 53261-0671 | Digi-key | Datasheet |
| 4 | 6 position Picoblade plug | 51021-0600 | Digi-key | Datasheet |
| 1 | SM 5 position Picoblade socket | 53261-0571 | Digi-key | Datasheet |
| 538-53261-0571 | Mouser | |||
| 1 | 5 position Picoblade plug | 51021-0500 | Digi-key | Datasheet |
| 6 | SM 4 position Picoblade socket | 53261-0471 | Digi-key | Datasheet |
| 538-53261-0471 | Mouser | |||
| 6 | 4 position Picoblade plug | 51021-0400 | Digi-key | Datasheet |
| 53 | Plug crimps | 538-50058-8000 | Mouser | |
| WM1775-ND | Digi-Key | |||
| 2 | 74HC14 hex Schmitt inverter | MM74HCT14MX | Digi-key | Datasheet |
| 24 | 470 kOhm Feedback resistor on sensor board | MCR03EZPJ474 | Digi-key | Datasheet |
| 4 | 33 kOhm encoder detector resistor | MCR03EZPJ333 | Digi-key | |
| 1 | 330 Ohm pulse line resistor | MCR03EZPJ331 | Digi-key | |
| 4 | 220 Ohm encoder illumination resistor | MCR03EZPJ221 | Digi-key |
CAM Files
| Qty/Hand | Description | Zip File |
|---|---|---|
| 1 | Left finger | fingerboard.zip |
| 1 | Right finger | fingerboardmirror.zip |
| 1 | Wrist processing board | wristboard.zip |
| 12 | Sensor board | sensorboard.zip |
Parts Under Consideration
| Description | Part Number | Supplier | Datasheet |
|---|
-- Main.JohnUlmen - 21 Nov 2009
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