적응형 그리퍼 설계 연구

Study on the Design of a Novel Adaptive Gripper

Abstract

In this paper, a novel adaptive gripper with underactuation is presented, which can change its configuration to parallel or power grip mode according to object shapes. Differently from the commercial adaptive gripper by RobotiQ, the proposed gripper includes an actual parallelogram inside a five-bar mechanism, which allows the free selection of actuator locations and can reduce actuation torques effectively. The forward and inverse kinematics for two grip modes and statics analysis have been analyzed. From the comparative design, the proposed gripper has about 20% smaller size, 3.7% larger stroke, and 30.5% smaller average actuation torque than the commercial one.

Fig. 1 Parallel grip of an underactuated gripper

Fig. 2 Power grip of an underactuated gripper

Fig. 3 Underactuated gripper mechanism by RobotiQ^[8]

Fig. 4 Vector-loop diagram of the gripper’s right finger

Fig. 5 Illustration of the two solutions of c_y

Fig. 6 FBD of the proposed gripper

Fig. 7 FBD of the gripper from RobotiQ

Fig. 8 Average torque according to actuator location (a_x, a_y)

Fig. 9 Stroke according to actuator location (a_x, a_y)

Fig. 10 $l^{\ast}_e$ according to stroke for different l₂, l₃

Fig. 11 Previous prototype and 3D modeling of the design results

Table 1. Comparison of the kinematic parameters

Table 2. Comparison of the gripper design results