Design of a compliant gripper with multimode jaws

dc.contributor.authorHao, Guangbo
dc.contributor.authorLi, Haiyang
dc.contributor.authorNayak, Abhilash
dc.contributor.authorCaro, Stéphane
dc.contributor.funderIrish Research Council
dc.date.accessioned2018-07-30T10:30:34Z
dc.date.available2018-07-30T10:30:34Z
dc.date.issued2018
dc.description.abstractThis 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.sponsorshipIrish Research Council (IRC Ulysses)en
dc.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.articleid31005
dc.identifier.citationHao, 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: 10.1115/1.4039498en
dc.identifier.doi10.1115/1.4039498
dc.identifier.endpage12
dc.identifier.issn1942-4302
dc.identifier.issued3
dc.identifier.journaltitleJournal of Mechanisms and Roboticsen
dc.identifier.startpage1
dc.identifier.urihttps://hdl.handle.net/10468/6530
dc.identifier.volume10
dc.language.isoenen
dc.publisherAmerican Society of Mechanical Engineers (ASME)en
dc.relation.urihttp://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.rights.urihttps://creativecommons.org/licenses/by/4.0/
dc.subjectMechanismsen
dc.subjectCompensationen
dc.subjectMotionen
dc.titleDesign of a compliant gripper with multimode jawsen
dc.typeArticle (peer-reviewed)en
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