期刊
JOURNAL OF MICRO-BIO ROBOTICS
卷 15, 期 1, 页码 31-42出版社
SPRINGER HEIDELBERG
DOI: 10.1007/s12213-019-00112-4
关键词
Compliant mechanism; Gripper; Parallel mechanism; Constant force; Mechanism design
类别
资金
- National Natural Science Foundation of China [51575545]
- Macao Science and Technology Development Fund [179/2017/A3]
- Research Committee of the University of Macau [MYRG2018-00034-FST]
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.
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