Design of a compliant gripper with multimode jaws
American Society of Mechanical Engineers (ASME)
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.
Mechanisms , Compensation , Motion
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
© 2018, ASME. This manuscript version is made available under the Creative Commons Attribution 4.0 International (CC BY 4.0) license.