Design of a compliant gripper with multimode jaws

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dc.contributor.author Hao, Guangbo
dc.contributor.author Li, Haiyang
dc.contributor.author Nayak, Abhilash
dc.contributor.author Caro, Stéphane
dc.date.accessioned 2018-07-30T10:30:34Z
dc.date.available 2018-07-30T10:30:34Z
dc.date.issued 2018
dc.identifier.citation Hao, G., Li, H., Nayak, A. and Caro, S. (2018) 'Design of a compliant gripper with multimode jaws', Journal of Mechanisms and Robotics, 10(3), 031005 (12pp). doi: 10.1115/1.4039498 en
dc.identifier.volume 10
dc.identifier.issued 3
dc.identifier.startpage 1
dc.identifier.endpage 12
dc.identifier.issn 1942-4302
dc.identifier.uri http://hdl.handle.net/10468/6530
dc.identifier.doi 10.1115/1.4039498
dc.description.abstract This paper presents the design of a multimode compliant gripper, using the singularities of the four-bar mechanism with equilateral links. The mobility of the compliant gripper can be reconfigurable to grasp a variety of shapes or adapt to specific requirements. The compliant gripper is a compact and two-layer structure. Two linear actuators are required to enable the multiple operation modes, by the conversion of two pairs of slider-crank mechanisms. A multimode compliant four-bar mechanism is first presented and kinematically analyzed. The design and the kinetostatic modeling of the resulting compliant gripper are then performed. Finally, the analysis of the reconfigurable compliant gripper under different actuation schemes is carried out, including the comparison of the results obtained from analytical modeling, finite element analysis (FEA), and experimental testing. en
dc.description.sponsorship Irish Research Council (IRC Ulysses) en
dc.format.mimetype application/pdf en
dc.language.iso en en
dc.publisher American Society of Mechanical Engineers (ASME) en
dc.relation.uri http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2674627
dc.rights © 2018, ASME. This manuscript version is made available under the Creative Commons Attribution 4.0 International (CC BY 4.0) license. en
dc.subject Mechanisms en
dc.subject Compensation en
dc.subject Motion en
dc.title Design of a compliant gripper with multimode jaws 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.description.version Accepted Version en
dc.contributor.funder Irish Research Council
dc.description.status Peer reviewed en
dc.identifier.journaltitle Journal of Mechanisms and Robotics en
dc.internal.IRISemailaddress g.hao@ucc.ie en
dc.identifier.articleid 31005


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