Feasibility study of a gripper with thermally controlled stiffness of compliant jaws

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dc.contributor.authorHao, Guangbo
dc.contributor.authorRiza, Mehdi N.
dc.contributor.funderUniversity College Corken
dc.date.accessioned2016-12-01T15:58:45Z
dc.date.available2016-12-01T15:58:45Z
dc.date.issued2016-11-18
dc.date.updated2016-12-01T15:52:40Z
dc.description.abstractThis paper proposes a simple and compact compliant gripper, whose gripping stiffness can be thermally controlled to accommodate the actuation inaccuracy to avoid or reduce the risk of breaking objects. The principle of reducing jaw stiffness is that thermal change can cause an initial internal compressive force along each compliant beam. A prototype is fabricated with physical testing to verify the feasibility. It has been shown that when a voltage is applied, the gripping stiffness effectively reduces to accommodate more inaccuracy of actuation, which allows delicate or small-scale objects to be gripped.en
dc.description.sponsorshipUniversity College Cork (UCC SEFS Summer Bursary 2016 grant)en
dc.description.statusPeer revieweden
dc.description.versionPublished Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationHao, G. and Riza, M. (2016) 'Feasibility study of a gripper with thermally controlled stiffness of compliant jaws', Applied Sciences, 6 :367 (6pp). doi:10.3390/app6110367en
dc.identifier.doi10.3390/app6110367
dc.identifier.endpage367-6en
dc.identifier.issn2076-3417
dc.identifier.journaltitleApplied Sciencesen
dc.identifier.startpage367-1en
dc.identifier.urihttps://hdl.handle.net/10468/3341
dc.identifier.volume6en
dc.language.isoenen
dc.publisherMDPIen
dc.rights© 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).en
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectCompliant mechanismsen
dc.subjectGrippingen
dc.subjectStiffness reductionen
dc.subjectThermal controlen
dc.titleFeasibility study of a gripper with thermally controlled stiffness of compliant jawsen
dc.typeArticle (peer-reviewed)en
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