• 한국산업융합학회 논문집
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• 제22권3호
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• pp.325-335
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• 2019

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.

• 한국산업융합학회 논문집
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• 제23권2_2호
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• pp.313-321
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• 2020

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.

• Journal of Biosystems Engineering
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• 제25권1호
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• pp.19-24
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• 2000

This study was carried out to develop gripper which to adaptive variable tray and to develop automatic transplanting system for seedling-production system between tray. This system consisted of five set of gripper and end-effector, a planting-width control unit, a tray transfer unit, and gripper moving device which move gripper between nursing tray and growing tray. This system used push-out rod to grasp plant instead of pull-out end -effector. Several types of fingers, which physically grip seedlings, were also developed and tested to ensure reliable transplanting operation of the gripper. The transplanting system detaches seedlings from a tray with push-o0ut rods, which were installed under the tray transfer unit. The performance of the transplanting system was evaluated by successive transplanting experiments. Using the best type of finger , the transplanting system produced 94.6% of transplanting success rate.

• 한국정밀공학회지
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• 제29권1호
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• pp.25-32
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• 2012

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.