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http://dx.doi.org/10.21289/KSIC.2020.23.2.313

Design of an Adaptive Gripper with Single Linear Actuator  

Kim, Giseong (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.23, no.2_2, 2020 , pp. 313-321 More about this Journal
Abstract
In this paper, two types of linear actuation methods for the previously proposed adaptive gripper are presented, which includes actual parallelogram inside a five-bar mechanism and has the advantages of smaller actuation torque and larger stroke over the commercial adaptive gripper by RobotiQ. The forward/inverse kinematics and statics analyses for two types of linear actuations are derived. From the inverse kinematics and statics analyses, linear actuation type I is selected and the gripper prototype is designed.
Keywords
Adaptive Gripper; Parallel grip; Power grip; Kinematics; Statics; Ball Screw;
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Times Cited By KSCI : 2  (Citation Analysis)
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