Design and analysis of a flexure based passive gripper

Gupta, Varan; Perathara, Rithul; Chaurasiya, Aditya K.; Khatait, Jitendra P.

doi:10.1016/j.precisioneng.2019.03.001

Cited by 6 publications

(6 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The PRBM is formulated based on the fixed clamped beam model from the literature [27][28][29][30]. The parameters [27,28] indicated in Figure 4 are used to derive Equation (17). The diagonal stiffness components in Equation ( 15) are used to derive the axial force per unit strain, EA, and the beam flexure rigidity, EI, in each actuating direction of the CPM.…”

Section: Formulation Of the Pseudo-rigid Body Model (Prbm)mentioning

confidence: 99%

“…Many design methods have been developed for synthesizing CPMs with various degrees of freedom (DoFs) and in different applications, i.e., 1 DoF [9,10] for grippers, 2 DoFs [11,12] for X-Y positioning stages, and 3 to 6 DoFs [13][14][15][16][17][18][19][20] for spatial motion. It is noted that CPMs with 1, 2, 3, and 6 DoFs are more widely developed than those with 4 or 5 DoFs, due to difficulties in the synthesis process.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Synthesis of Compliant Parallel Mechanisms Using an Improved Beam-Based Method with the Optimization of Multiple Resonant Modes

2023

View full text Add to dashboard Cite

This paper proposes an improved beam-based method to synthesize a compliant parallel mechanism (CPM) with multiple degrees of freedom (DoFs). The proposed method utilizes a structural optimization technique to synthesize a three-legged CPM with a single-beam structure constructed by two perpendicular segments in each leg to achieve the desired DoFs and fully decoupled motion. In addition, an objective function is proposed to optimize the primary resonant frequencies in actuating directions to targeted values to achieve the desired dynamic behaviors. A 4-DoF CPM, with one translation and three rotations, is synthesized using the improved beam-based method and all of the primary resonant frequencies are optimized to the targeted values. The 4-DoF CPM prototype is fabricated monolithically and evaluated experimentally in terms of its mechanical characteristics, workspace, and resonant modes. The obtained results show that the experimental stiffness and dynamic properties agree with the predictions. In particular, the prototype has good motion decoupling capability, as reflected by the high stiffness ratios of more than 500 between the non-actuating and actuating directions; the large workspaces of up to 4.0 mm and 7.2° for the translation and rotations, respectively; and the resonant frequencies being close to the targeted ones. In addition, the highest deviations between the predicted and experimental results are 9.49% and 9.13% for the stiffness and dynamic behaviors, respectively, demonstrating the correctness and effectiveness of the proposed method.

show abstract

Section: Formulation Of the Pseudo-rigid Body Model (Prbm)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Synthesis of Compliant Parallel Mechanisms Using an Improved Beam-Based Method with the Optimization of Multiple Resonant Modes

2023

View full text Add to dashboard Cite

show abstract

“…The passive grippers proposed by Mucchiani et al [2018]; Mucchiani and Yim [2021] use a rotational motion to engage an antipodal grasp, but they can only pick up extruded cross sections (e.g., a cylinder), the key category not covered by our method. Other work has focused on passive deformations around objects to apply antipodal forces [Brodbeck and Iida 2015;Gupta et al 2019].…”

Section: Related Workmentioning

confidence: 99%

Computational design of passive grippers

et al. 2022

View full text Add to dashboard Cite

This work proposes a novel generative design tool for passive grippers---robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive grippers are used because they offer interesting trade-offs between cost and capabilities. However, existing designs are limited in the types of shapes that can be grasped. This work proposes to use rapid-manufacturing and design optimization to expand the space of shapes that can be passively grasped. Our novel generative design algorithm takes in an object and its positioning with respect to a robotic arm and generates a 3D printable passive gripper that can stably pick the object up. To achieve this, we address the key challenge of jointly optimizing the shape and the insert trajectory to ensure a passively stable grasp. We evaluate our method on a testing suite of 22 objects (23 experiments), all of which were evaluated with physical experiments to bridge the virtual-to-real gap. Code and data are at https://homes.cs.washington.edu/~milink/passive-gripper/

show abstract

“…The utility of robotic vehicles and robotic arms has been augmented by the existence of robotic grippers. [1][2][3][4][5] Numerous grippers have been developed over the years. The initial days of the development of grippers mostly saw the synthesis of linkage-type grippers.…”

Section: Introductionmentioning

confidence: 99%

Flexure based gripper to grasp hollow objects by internal surface interaction

Kumar

Yadav

Gupta

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

Self Cite

View full text Add to dashboard Cite

The paper focuses on the design, development, and evaluation of a gripper intended to hold hollow objects by interacting with the inner surface. The gripper moves towards the inside of the hollow object and grips it using the friction forces applied on the surface of the object. The design also ensures the application of variable normal forces on the surface of the object to be grasped. The mathematical architecture is verified using prototypes and experiments.

show abstract

Design and analysis of a flexure based passive gripper

Cited by 6 publications

References 12 publications

Synthesis of Compliant Parallel Mechanisms Using an Improved Beam-Based Method with the Optimization of Multiple Resonant Modes

Synthesis of Compliant Parallel Mechanisms Using an Improved Beam-Based Method with the Optimization of Multiple Resonant Modes

Computational design of passive grippers

Flexure based gripper to grasp hollow objects by internal surface interaction

Contact Info

Product

Resources

About