Browse > Article
http://dx.doi.org/10.21289/KSIC.2019.22.3.325

Study on the Design of a Novel Adaptive Gripper  

Kim, Gi Sung (Dept. of Mechanical Convergence Engineering, Kyungnam University)
Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.22, no.3, 2019 , pp. 325-335 More about this Journal
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.
Keywords
Adaptive Gripper; Underactuation; Parallel grip; Power grip; Kinematics and Statics Analyses;
Citations & Related Records
연도 인용수 순위
  • Reference
1 https://robotiq.com
2 https://www.softroboticsinc.com/
3 Phillips, C. G. 1986. Movements of the Hand, Liverpool University press.
4 Tubiana, R. and Thomie, J.-M. 1990. La main: anatomie fonctionnelle etexamen clinique, Editions Masson, Paris.
5 Montambault, S. Gosselin, C. 2001. Anaysis of Underactuated Mechanical Grippers, Transactions of the ASME, Vol. 123, pp. 367-374.   DOI
6 Laliberte, T. Birglen, L. Gosselin, C. 2002. Underactuation in robotic grasping hands, Machine Intelligence & Robotic Control, Vol. 4, No. 3, 1-11.
7 Cui, J. Yan, S. Hu, J. Chu, Z. 2018. A metric to design spring stiffness of underactuated fingers for stable grasp, Robotics and Autonomous Systems, pp. 1-15.
8 Demers, L. A. Lefrancois, S. Jobin, J. 2015. Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping, US 8,973,958 B2.
9 Tsai, L. W. 1999. Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Inc. 124-129.
10 Norton, R. L. 2008. Design of machinery: an introduction to the synthesis and analysis of mechanisms and machines, McGraw-Hill, Inc. 531-538.