Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Adaptive Gripper Mimicking Large Deforming Proleg of Hydraulic Skeleton Caterpillar

유체골격 애벌레의 다리조직 대변형을 모사한 적응형 그리퍼

  • Jung, Gwang-Pil (Department of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Koh, Je-Sung (Department of Mechanical and Aerospace Engineering, Seoul National Univ.) ;
  • Cho, Kyu-Jin (Department of Mechanical and Aerospace Engineering, Seoul National Univ.)
  • 정광필 (서울대학교 기계항공공학부) ;
  • 고제성 (서울대학교 기계항공공학부) ;
  • 조규진 (서울대학교 기계항공공학부)
  • Received : 2011.11.14
  • Accepted : 2011.11.28
  • Published : 2012.01.01
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Abstract

In this study, we present a gripping mechanism that is inspired by caterpillar's proleg. A caterpillar's proleg has planta that gives compliance to the proleg by greatly deforming its shape. In the bio-inspired gripper, the planta is implemented by flexure joints. The flexures buckle when end force and end moment is applied on the joint in opposite direction. Using this characteristic, the gripping structure is designed so that the flexure buckling can occur. Flexure buckling increases the region where gripping force is constant and this region leads to increasing in gripping range. At the same time, flexure buckling decouples all spines and therefore all spines can move differentially and independently. With this simple but effective mechanism, the bioinspire gripper can achieve adaptive gripping on rough and rugged surfaces. A prototype is built to demonstrate adaptive gripping on rough and rugged surfaces such as cement block, brick.

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References

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