A constant-force compliant gripper for handling objects of various sizes
Journal
Journal of Mechanical Design
Journal Volume
136
Journal Issue
7
Start Page
071008
ISSN
10500472
Date Issued
2014
Author(s)
Wang, Jungyuan
Abstract
This paper presents the design, simulation, and testing of a compliant gripper that can provide a constant gripping force to handle objects of various sizes. Maintaining a proper gripping force is challenging when manipulating delicate objects with uncertain sizes and stiffnesses. To avoid damage and provide a stable grip of an object, force feedback is often required so that the gripping force can be directly or indirectly regulated. Without using additional sensors and control, the proposed gripper passively maintains a constant prespecified contact force between fingertip and object. The gripper is designed to have a constant input force generated by a constant-force mechanism (CFM). Transmitted through a statically balanced (SB) mechanism, a constant gripping force is obtained at the fingertip. After a formulation to find the optimal gripper configuration, the design is verified through comparison with simulation results. Finally, a prototype of the constant-force gripper is demonstrated. The novel gripper is expected to serve as a reliable alternative for object manipulation.
Subjects
Compliant Gripper
Constant-force Mechanism
Statically Balanced Mechanism
Compliant Mechanisms
Mechanisms
A-stable
Balanced Mechanism
Compliant Gripper
Constant Force
Constant Force Mechanisms
Design Simulations
Force-feedback
Gripping Force
Simulation And Testing
Statically Balanced Mechanism
Grippers
Publisher
American Society of Mechanical Engineers (ASME)
Type
journal article