期刊
MECHANISM AND MACHINE THEORY
卷 152, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2020.103942
关键词
Gripper; Parallel; Bistable; Kinetostatic
资金
- Ministry of Science and Technology R.O.C. [MOST 106-2221-E-005-038]
A compliant gripper with parallel movement of jaws is developed. The gripper is composed of a bar linkage mechanism and a bistable mechanism. After a target object is grasped, the embedded bistable mechanism can maintain the gripping of the object with no energy consumption. Unstable fixation due to rotary motion of opposing gripping arms of traditional tweezer-like grippers is alleviated by the proposed gripper. Kinetostatic models of the device based on chained beam constraint model are derived to assist the design of the device. Grasp function of an object is accomplished while the gripper proceeds from its first stable equilibrium position to its second stable equilibrium position, and release of the object is achieved when the gripper returns back to its first stable equilibrium position. (C) 2020 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据