An accurate force regulation mechanism for handling fragile objects using pneumatic grippers
Journal Volume
2016-September
Start Page
389
End Page
394
ISBN (of the container)
9781509020652
Date Issued
2016
Author(s)
Chen, Chihchieh
Abstract
Controlling the gripping force on objects has been a challenging task for industrial grippers. Its realization often requires an electric gripper with embedded force sensors and control feedback. This approach is costly and introduces extra complexity for grippers. To avoid damage while handling fragile objects, this paper presents a novel force regulation mechanism (FRM) to be installed on grippers. Without using additional sensors and control, the FRM can passively produce an adjustable contact force between the finger jaws and objects of variable sizes. Together with pneumatic grippers which are much less expensive, this approach offers a more attractive solution in terms of cost and complexity. In this paper, the design concept and simulation results are presented and discussed. A prototype of a gripper with the proposed FRM is illustrated to demonstrate the effectiveness and accuracy of force regulation. This novel mechanism is expected to serve as a reliable alternative for industrial object manipulation.
Event(s)
2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Subjects
Compliant Mechanism
Constant Force
Force Control
Pneumatic Gripper
Zero Stiffness
Compliant Mechanisms
Force Control
Intelligent Mechatronics
Mechanisms
Pneumatics
Attractive Solutions
Constant Force
Control Feedback
Force Regulation
Fragile Objects
Object Manipulation
Pneumatic Grippers
Zero Stiffness
Grippers
Publisher
Institute of Electrical and Electronics Engineers Inc.
Description
2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Banff; AB. conference code:124072
Type
conference paper