Robocadet Robotics Pvt Ltd

In their own words

World egg production rises with rising demand reaching nearly 72 million metric tons. Eggs undergo strict quality control to be suitable for human consumption. One of the first steps in quality control of eggs is Egg Candling, a non-destructive method to check the egg for abnormalities by applying a bright light on the egg. In the past, a candle acted as a source of light and hence the name. This process is done manually in small and medium companies and in developing nations. Two disadvantages to manual inspection is the high susceptibility to errors and its effect on the health of human labour from continuous exposure of bright or intense light to the human eye. Thus, a system must be developed for automatic inspection of the eggs for egg candling. With the current technology, it is undemanding to deploy robots to automate the process of egg candling. A robotic gripper modelled on a human hand can replace human labour in egg candling.While electric and hydraulic actuators show a clear advantage for large robots and machinery, applications that require highly compliant actuators can be aided by Soft Pneumatic Actuators (SPA). The increasing popularity of soft robots owes itself to the recent advancements in soft materials, non-linear modelling and mechanisms that are compliant in nature. They are utilized as actuators for a range of purposes from grippers and hands to micro walking robots and swimming robots. Soft pneumatic actuators (SPA) were invented by Joseph L. McKibben in the 1950s and since then many replicas have been developed. These actuators have been made using different materials like rubber, silicon, plastic etc. Essentially, the actuator has an inner tube for an inlet supplying pressurized air. The entry of pressurized air results in bending and expansion of the actuator thus demonstrating a degree of freedom. The number of chambers in the tube can vary and is directly proportional to the degrees of freedom it can exhibit. Similarly, another factor that can aid in increased bending and expansion is the number of corrugations on the actuator. There is less research that experiments on the relationship between the number and shape of corrugations of the actuator and the bending and expansion displayed by the actuator. In this work, SPAs are used as actuators for fingers in a gripper. A less-explored research is the control of the SPA by integrating sensing systems. For a robotic hand to achieve similar precision levels of a human hand, the robotic hand must not only perform an ideal grasp of the object in its work-space but must also include the competence to detect the slippage of the object in hand. While there is research on a control system for a soft gripper, there is almost none for a gripper actuated with asymmetric bellow flexible pneumatic actuator (ABFPA). This work aims to design and implement an autonomous system deploying a soft actuated ABFPA gripper that can detect and avoid slip autonomously by integrating sensors into a four fingered gripper actuated by ABFPA. Three modes viz. pick, hold and place are controlled with the aid of sensors.

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