Analysis and design optimization of a compliant robotic gripper mechanism with inverted flexure joints

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dc.check.date2026-09-02
dc.check.infoAccess to this article is restricted until 24 months after publication by request of the publisheren
dc.contributor.authorKuresangsai, Pongsirien
dc.contributor.authorCole, Matthew O. T.en
dc.contributor.authorHao, Guangboen
dc.contributor.funderChiang Mai Universityen
dc.date.accessioned2024-09-24T13:04:09Z
dc.date.available2024-09-24T13:04:09Z
dc.date.issued2024-09-02en
dc.description.abstractFlexure-jointed grippers provide compliant grasping capability, have low-cost and flexible manufacturing, and are insusceptible to joint friction and wear. However, their grasp stiffness can be limited by flexure compliance such that loss-of-grasp is prone to occur for high object loads. This paper examines the application of inverted-flexure joints in a cable-driven gripper that can avoid flexure buckling and greatly enhance grasp stiffness and stability. To analyze behavior, an energy-based kinetostatic model is developed for a benchmark grasping problem and validated by hardware experiments. A multi-objective design optimization study is conducted, considering key metrics of peak flexure stress, grasp stiffness, and cable actuation force. Results show that the inverted-flexure design has significantly higher grasp stiffness (63% higher in a targeted design optimization) and requires lower actuation forces (¿20% lower in all optimization cases), compared with equivalent direct-flexure designs. An application study is conducted to validate the predicted operating performance under gravity loading of the grasped object. The results demonstrate that stable and high stiffness grasping can be achieved, even under overload conditions that lead to loss-of-grasp for conventional direct-flexure designs.en
dc.description.sponsorshipChiang Mai University (Fundamental Fund 2023 FF66/058)en
dc.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.articleid105779en
dc.identifier.citationKuresangsai, P., Cole, M. O. and Hao, G. (2024) 'Analysis and design optimization of a compliant robotic gripper mechanism with inverted flexure joints', Mechanism and Machine Theory, 202, p.105779 (18pp). https://doi.org/10.1016/j.mechmachtheory.2024.105779en
dc.identifier.doihttps://doi.org/10.1016/j.mechmachtheory.2024.105779en
dc.identifier.endpage18en
dc.identifier.issn0094-114Xen
dc.identifier.startpage1en
dc.identifier.urihttps://hdl.handle.net/10468/16432
dc.identifier.volume202en
dc.language.isoenen
dc.publisherElsevier B.V.en
dc.rights© 2024, Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies. This manuscript version is made available under the CC BY-NC-ND 4.0 license.en
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/en
dc.subjectRobotic gripperen
dc.subjectCompliant mechanismen
dc.subjectDesign optimizationen
dc.subjectFlexure jointen
dc.subjectGrasp stabilityen
dc.subjectKinetostatic modelingen
dc.titleAnalysis and design optimization of a compliant robotic gripper mechanism with inverted flexure jointsen
dc.typeArticle (peer-reviewed)en
oaire.citation.volume202en
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