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Story 
Introduction
In this project, I developed an easily implementable and economic control system for the management of electric drivings. This system shall apply to an pre-existing robot endowed with three axes. In addition, for this robot I have added an axis and designed a flexible gripper that is adaptable to a different workpiece’s shapes.
Mechanics
The robot has three rotational joints which are driven by DC motor (E192).
For the end-effector i designed a gripper that is able to pick up objects with different shapes and dimension, made by a flexible fingers.
The gripper is made with polymeric material (PLA) using the 3D printing (FDM).
The gripper is moved by two motors: a servomotor (MG996R) for the rotation on the vertical plane (pitch) and a brushless motor (FIT0441) for the opening/closing of the gripper.
Hardware
The hardware is studied in order to have a modular and economic system.
For more detail: End-Effector and Control Logic for Robot
