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Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism
Xiaozhi Zhang; Qingsong Xu
2019-02-12
Source PublicationJournal of Micro-Bio Robotics
ISSN2194-6418
Volume15Issue:1Pages:31-42
Abstract

This paper presents the design and testing of a novel flexure-based compliant parallel gripper with constant driving force. One uniqueness of the gripper lies in that it achieves two-degree-of-freedom (2-DOF) independent constant driving force in grasping and rolling operations. In each direction, the grasping and rolling operation is executed with the constant driving force. The parallel-kinematic flexure mechanism design enables nearly decoupled operations in 2-DOF manipulation. The constant driving force property enlarges the grasping range by reducing the required driving force. Analytical modeling of the gripper mechanism is carried out based on pseudo-rigid-body method, which is verified by conducting simulation study with nonlinear finite-element analysis (FEA). Parametric study is conducted to investigate the influence of each design variable on the gripper performance. To demonstrate the performance of the gripper, a prototype is fabricated by 3D printer. Experimental results reveal that the devised gripper owns a good constant driving force property during grasping.

KeywordCompliant Mechanism Constant Force Gripper Mechanism Design Parallel Mechanism
DOI10.1007/s12213-019-00112-4
URLView the original
Indexed ByESCI
Language英語English
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:000468977600004
Scopus ID2-s2.0-85061490228
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Citation statistics
Cited Times [WOS]:14   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding AuthorQingsong Xu
AffiliationDepartment of Electromechanical Engineering,Faculty of Science and Technology,University of Macau,Macau,Avenida da Universidade,China
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Xiaozhi Zhang,Qingsong Xu. Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism[J]. Journal of Micro-Bio Robotics,2019,15(1):31-42.
APA Xiaozhi Zhang,&Qingsong Xu.(2019).Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism.Journal of Micro-Bio Robotics,15(1),31-42.
MLA Xiaozhi Zhang,et al."Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism".Journal of Micro-Bio Robotics 15.1(2019):31-42.
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