Grasp stability and design analysis of a flexure-jointed gripper mechanism via efficient energy-based modeling

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dc.contributor.author Kuresangsai, Pongsiri
dc.contributor.author Cole, Matthew O. T.
dc.contributor.author Hao, Guangbo
dc.date.accessioned 2022-11-24T14:15:07Z
dc.date.available 2022-11-24T14:15:07Z
dc.date.issued 2022-10
dc.identifier.citation Kuresangsai, P., Cole, M. O. T. and Hao, G. (2022) 'Grasp stability and design analysis of a flexure-jointed gripper mechanism via efficient energy-based modeling', IEEE Robotics and Automation Letters, 7(4), pp. 12499-12506. doi: 10.1109/LRA.2022.3220152 en
dc.identifier.volume 7 en
dc.identifier.issued 4 en
dc.identifier.startpage 12499 en
dc.identifier.endpage 12506 en
dc.identifier.uri http://hdl.handle.net/10468/13884
dc.identifier.doi 10.1109/LRA.2022.3220152 en
dc.description.abstract For flexure-based gripper mechanisms, the arrangement and design of joint elements may be chosen to allow enclosure of objects in grasping. This must provide stable containment under load, without causing excessive stress within the joint materials. This paper describes an energy-based model formulation for a cable-driven flexure-jointed gripper mechanism that can accurately describe the nonlinear load-deflection behavior for a grasped object. The approach is used to investigate the limits of grasp performance for a gripper with two single-joint fingers through simulation studies, including the accurate prediction of stability limits due to joint buckling. Hardware experiments are set up and conducted to validate the theoretical model over a range of loading conditions that exceed limits for stable grasping. Parametric design studies are also presented to show the influence of joint geometry on both grasp stability and flexure peak stress. Considering the intersection of feasible design sets, generated from simulation data over a range of possible object geometries, is shown to be an effective approach for selecting gripper design parameters. en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) en
dc.rights © 2022, IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. en
dc.subject Behavioral sciences en
dc.subject Buckling en
dc.subject Compliant mechanism en
dc.subject Deformable models en
dc.subject Flexure joint en
dc.subject Grasp stability en
dc.subject Grasping en
dc.subject Grippers en
dc.subject Load modeling en
dc.subject Robotic gripper en
dc.subject Strain en
dc.subject Stress en
dc.title Grasp stability and design analysis of a flexure-jointed gripper mechanism via efficient energy-based modeling en
dc.type Article (peer-reviewed) en
dc.internal.authorcontactother Guangbo Hao, Electrical & Electronic Engineering, University College Cork, Cork, Ireland. +353-21-490-3000 Email: g.hao@ucc.ie en
dc.internal.availability Full text available en
dc.date.updated 2022-11-24T14:06:32Z
dc.description.version Accepted Version en
dc.internal.rssid 636028079
dc.contributor.funder Chiang Mai University en
dc.contributor.funder National Research Council of Thailand en
dc.description.status Peer reviewed en
dc.identifier.journaltitle IEEE Robotics and Automation Letters en
dc.internal.copyrightchecked Yes
dc.internal.licenseacceptance Yes en
dc.internal.IRISemailaddress g.hao@ucc.ie en
dc.identifier.eissn 2377-3766


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