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

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dc.contributor.authorKuresangsai, Pongsiri
dc.contributor.authorCole, Matthew O. T.
dc.contributor.authorHao, Guangbo
dc.contributor.funderChiang Mai Universityen
dc.contributor.funderNational Research Council of Thailanden
dc.date.accessioned2022-11-24T14:15:07Z
dc.date.available2022-11-24T14:15:07Z
dc.date.issued2022-10
dc.date.updated2022-11-24T14:06:32Z
dc.description.abstractFor 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.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationKuresangsai, 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.2022.3220152en
dc.identifier.doi10.1109/LRA.2022.3220152en
dc.identifier.eissn2377-3766
dc.identifier.endpage12506en
dc.identifier.issued4en
dc.identifier.journaltitleIEEE Robotics and Automation Lettersen
dc.identifier.startpage12499en
dc.identifier.urihttps://hdl.handle.net/10468/13884
dc.identifier.volume7en
dc.language.isoenen
dc.publisherInstitute 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.subjectBehavioral sciencesen
dc.subjectBucklingen
dc.subjectCompliant mechanismen
dc.subjectDeformable modelsen
dc.subjectFlexure jointen
dc.subjectGrasp stabilityen
dc.subjectGraspingen
dc.subjectGrippersen
dc.subjectLoad modelingen
dc.subjectRobotic gripperen
dc.subjectStrainen
dc.subjectStressen
dc.titleGrasp stability and design analysis of a flexure-jointed gripper mechanism via efficient energy-based modelingen
dc.typeArticle (peer-reviewed)en
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