Design of a Six Degrees of Freedom Robotic Arm for Grasping Flat Objects Based on Bus Servo Drive

There are many common flat objects in life, such as plastic pieces on the beach, chess cards on the desktop, and tiny parts in industrial production, that have low surface friction, which is a challenge for traditional manipulator grasping. Therefore, this study proposes a design of a manipulator suitable for grasping flat objects of different sizes, shapes, and materials, aiming to improve the accuracy and adaptability of grasping technology and to increase efficiency in production and daily life. The method used to grasp flat objects in this study is "shoveling", which means that the manipulator has two fingers. One finger is used to fix the side of the object, and the other finger shovels the object from the bottom and completes the clamping. The essence of the mechanical claw finger structure is that the servo drives the rack and pinion to make the finger stretch up and down, while the whole mechanical claw structure will be mounted on the robotic arm for control, and all the programs are executed by the Arduino control board. Through the eight sizes, shapes, and materials of different items for the grasping test, it was found that the mechanical claw for most of the flat objects has a strong adaptability. Compared with traditional grippers, this project has a simpler structure, lower material cost, and higher stability.