A. Irawan Page

Tri-finger Pneumatic Gripper

[TPG]

The Tri-Finger Pneumatic Gripper (TPG) was developed in 2013 as an end-effector for the Fanuc S-430 industrial robot manipulator at the Automation and Robotics Laboratory, Faculty of Electrical & Electronics Engineering Technology (FTKEE), Universiti Malaysia Pahang. Initially, the platform was designed for teaching and learning purposes related to control and robotics. Currently, it is being repurposed for research projects focused on enhancing its control and grasping efficiency, including pneumatic position control, pressure regulation, and adaptive grasping mechanisms. The research aims to develop a versatile gripper capable of providing both firm and gentle grasping, enabling the TPG to handle both fragile and solid materials in pick-and-place operations.

This pneumatic robot configured with three pneumatic pistons for each finger and operates in two primary states: gripping state (GS) and release state (RS) as shown in Fig.2. The detail specification and configuration of TPG is listed in Table 1.

Figure 1: TPG Unit

Table 1: List of components and equipment in TPG unit

This pneumatic robot hand control system is configured with multiple input and single-output (MISO) structure in which all the inputs come from 32-bit microcontroller to the 5/3-way pneumatic proportional valve and two as feedback response from rotary encoder and pressure transducers respectively as shown in Fig. 1. The hardware-in-loop control approached is deployed for this system using the MATLAB® SIMULINK software environment

Figure 2. TPG basic operation

Figure 3. TPG on FANUC Robot S-430iF

Major works are done on finger positioning and interaction control in order to make this grasper available for large-scale material with fragile surfaces. Moreover, this grasper also designed with the pressure-to-tip force estimation for large force reading (>10N) and used direct touch sensor for small force reading (<10N). This approach was done to ensure this grasper sensitive with fragile surface object, thus, increase the efficiency of the interaction controller.

Figure 4. Notation of geometry and force acting relation for a single finger force on tip estimation using our novel estimator.

Related publications:

A. Irawan, M. H. Sulaiman, M. S. Ramli, and M. I. P. Azahar, "Pneumatic servo position control optimization using adaptive-domain prescribed performance control with evolutionary mating algorithm," Results in Control and Optimization, Article vol. 15, 2024, Art no. 100434, doi: 10.1016/j.rico.2024.100434.
A. Irawan, M. I. P. Azahar, and M. S. Ramli, "Pressure Regulation on A Single Finger of Tri-Finger Pneumatic Grasper Robot using Finite Time and Convergence Prescribed Performance Control.," Przeglad Elektrotechniczny, vol. 2023, no. 9, pp. 98-103, 2023. [Online]. Available: https://doi:10.15199/48.2023.09.18.
A. Irawan, M. S. Ramli, M. H. Sulaiman, M. I. P. Azahar, and A. H. Adom, "Optimal Pneumatic Actuator Positioning and Dynamic Stability using Prescribed Performance Control with Particle Swarm Optimization: A Simulation Study," International Journal of Robotics and Control Systems, vol. 3, no. 3, p. 364-379, 2023-05-29 2023, doi: 10.31763/ijrcs.v3i3.1002.
M. I. P. Azahar, A. Irawan, and R. M. T. Raja Ismail, "Adjustable Convergence Rate Prescribed Performance with Fractional-Order PID Controller for Servo Pneumatic Actuated Robot Positioning," Cognitive Robotics, Article vol. 3, pp. 93-106, 2023, doi: 10.1016/j.cogr.2023.04.004.
A. Irawan, M. H. Sulaiman, and M. I. P. Azahar, "Optimal Finite-Time Prescribed Performance of Servo Pneumatic Positioning with PID Control Tuning using an Evolutionary Mating Algorithm," in 2023 IEEE 13th International Conference on Control System, Computing and Engineering (ICCSCE), 25-26 Aug. 2023 2023, pp. 196-201, doi: 10.1109/ICCSCE58721.2023.10237170.
A. Irawan, M. I. P. Azahar, and D. Pebrianti, "Interaction Motion Control on Tri-finger Pneumatic Grasper using Variable Convergence Rate Prescribed Performance Impedance Control with Pressure-based Force Estimator," Journal of Robotics and Control (JRC), vol. 3, no. 5, p. 9, 2022-09-01 2022, doi: 10.18196/jrc.v3i5.16316.
A. Irawan, M. I. P. Azahar, and M. A. Hashimi, "Sensorless force estimation on fingertip with gravitational compensation for heavy-duty pneumatic tri-grasper robot," in Engineering Technology International Conference (ETIC 2022), 7-8 Sept. 2022 2022, vol. 2022, pp. 1-5, doi: 10.1049/icp.2022.2483.
M. I. P. Azahar, A. Irawan, and M. S. Ramli, "Transient Control Improvement on Pneumatic Servoing in Robot System using Fractional-Order PID with Finite-time Prescribed Performance Control," in 2022 IEEE 12th Symposium on Computer Applications & Industrial Electronics (ISCAIE), 2022, pp. 206-210.
M. I. P. Azahar, A. Irawan, and R. M. T. R. Ismail, "Self-tuning hybrid fuzzy sliding surface control for pneumatic servo system positioning," Control Engineering Practice, vol. 113, p. 104838, 2021/08/01/ 2021.
M. I. P. Azahar and A. Irawan, "Enhancing Precision on Pneumatic Actuator Positioning using Cascaded Finite-time Prescribed Performance Control," in 2021 11th IEEE International Conference on Control System, Computing and Engineering (ICCSCE), 2021, pp. 131-136.
A. Irawan, M. I. P. Azahar, and Z. H. Ismail, "Interaction Motion on Pneumatic Cylinder using Prescribed Performance Force Tracking Impedance Control," in 2020 8th International Conference on Control, Mechatronics and Automation (ICCMA), 2020, pp. 121-126.
A. Irawan and M. I. P. Azahar, "Cascade Control Strategy on Servo Pneumatic System with Fuzzy Self-Adaptive System," Journal of Control, Automation and Electrical Systems, 2020/09/23 2020.
M. I. P. Azahar, A. Irawan, R. M. Taufika, and M. H. Suid, "Position Control of Pneumatic Actuator Using Cascade Fuzzy Self-adaptive PID," Singapore, 2020, pp. 3-14.
M. I. P. Azahar, A. Irawan, R. Taufika, and M. Suid, "Position Control of Pneumatic Actuator Using Cascade Fuzzy Self-adaptive PID," ed, 2020, pp. 3-14.
M. I. P. Azahar, A. Irawan, and R. Taufika, "Fuzzy Self-Adaptive Sliding Mode Control for Pneumatic Cylinder Rod-Piston Motion Precision Control," Journal of Physics: Conference Series, vol. 1532, p. 012028, 06/01 2020.
M. I. P. Azahar, A. Irawan, and M. S. Ramli, "Finite-Time Prescribed Performance Control for Dynamic Positioning of Pneumatic Servo System," in 2020 IEEE 8th Conference on Systems, Process and Control (ICSPC), 2020, pp. 1-6.
M. I. P. Azahar, A. Irawan, and R. M. Taufika, "Fuzzy Self-Adaptive PID for Pneumatic Piston Rod Motion Control," in 2019 IEEE 10th Control and System Graduate Research Colloquium (ICSGRC), 2019, pp. 82-87.

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