Design and analysis of a novel 3-DOF spatial parallel microgripper driven by LUMs

Geng, Ranran; Mills, James K.; Yao, Zhiyuan

doi:10.1016/j.rcim.2016.06.001

Cited by 24 publications

(11 citation statements)

References 31 publications

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“…Thus, the formulas for solving the general dynamic actuation forces and the dynamic constrained forces are derived by substitute Eqs. ( 17), (18) into Eq. ( 16) as…”

Section: Dynamics Model Of Couple-constrained Parallel Wrist With Thr...mentioning

confidence: 99%

“…Isaksson et al designed a 5-DOF redundant platform in order to transform the redundant platform motion into the motion of a grasper [17]. Geng et al presented a 3-DOF parallel micro-gripper and analyzed its kinematics [18]. However, the existing grippers formed by cable-driven redundant manipulator may have a less capability for grabbing the heavy object since a cable-driven finger has a lower load bearing capability.…”

Section: Introductionmentioning

confidence: 99%

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Development and dynamics of a novel couple-constrained parallel wrist with three measuring force flexible fingers

Chang

Lü

2023

Robotica

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A novel couple-constrained parallel wrist with three measuring force flexible fingers is designed for grabbing heavy objects and measuring grabbed forces. Its prototype is developed, its dynamics model is established, and its grabbing forces are measured. First, using the extended formulas of the skew-symmetric matrix, the kinematic formulas are derived for solving the Jacobian/Hessian matrices and the general velocity/acceleration of the moving links in the couple-constrained parallel wrist. Second, a dynamics model is established for solving the dynamic actuation forces, the couple-constrained forces, and the torque in the couple-constrained parallel wrist. Third, the theoretical solutions of the kinematics/dynamics of the couple-constrained parallel wrist are verified using a simulation mechanism. Finally, the grabbing forces of the three flexible fingers are measured and analyzed.

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“…Thus, the formulas for solving the general dynamic actuation forces and the dynamic constrained forces are derived by substitute Eqs. ( 17), (18) into Eq. ( 16) as…”

Section: Dynamics Model Of Couple-constrained Parallel Wrist With Thr...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development and dynamics of a novel couple-constrained parallel wrist with three measuring force flexible fingers

Chang

Lü

2023

Robotica

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show abstract

“…Luo and Zhang 8 developed a hand with three fingers, each finger has 15 degrees of freedom, and established its kinematic and dynamics model. Geng et al 9 proposed 3-DOF microgripper based on the PM with joints formed by right circular multi-axis flexible hinges. Govindan 10 designed, analyzed, and tested a multimodal grasper with the capabilities of shape conformation, within-hand manipulation.…”

Section: Introductionmentioning

confidence: 99%

Dynamics of moving-object grasped by a hybrid hand

Chang

2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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When a heavy object is cooperatively grasped to move by several fingers of the robot hybrid hand, the inertial properties and the mass distribution of the object must influence largely on the operation precision, grasping stability, and the safety of both the hybrid hand and the object. Hence, it is an important and significant issue to establish and analyze the dynamics model of the moving-object cooperatively grasped by the hybrid hand in order to ensure the safety and grasping stability of the hybrid hand and the object. However, this research has not been conducted. In this paper, a dynamics model of the moving-object grasped by the hybrid hand is established, and its dynamics is studied and analyzed. First, a three-dimensional model of a hybrid hand formed by a novel parallel manipulator and three fingers is designed for cooperatively grasping object. Second, the kinematic formulas for solving the Jacobian matrices, the Hessian matrices, the general velocity/acceleration of the moving platform, and four active limbs of the parallel manipulator are derived. Third, the composite Jacobian matrix and the composite Hessian matrix of the hybrid hand are derived, and the general velocity/acceleration of the moving-object grasped by the hybrid hand is derived. Fourth, dynamics model of the hybrid hand is established, the formulas for solving the dynamic actuation forces of the three fingers and the dynamic actuation forces/torque and constrained forces of the parallel manipulator are derived. Finally, the theoretical solutions of the dynamics model of the moving-object grasped by the hybrid hand are verified by its simulation mechanism.

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“…Recently, research and applications pertaining to such devices have rapidly advanced, such as in the area of actuation for aircrafts and detectors, cell injection based on nano-manipulation, optical scanning, and precision platform drives. [1][2][3][4][5][6][7] The characteristics required include compact structure, high positional accuracy, fast response speed, and large travel range. Quick response, non-magnetic properties, high torque at low speeds, high resolution, off power self-braking, and a large working travel range are attractive characteristics for this new type of ultrasonic motor.…”

Section: Introductionmentioning

confidence: 99%

A Review of Application and Development Trends in Ultrasonic Motors

Li¹,

Wen²,

Jia³

et al. 2020

ES Mater. Manuf.

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The structure and performance of ultrasonic motors have gradually improved with the emergence of new materials, techniques, and structural forms. Therefore, the application scope of this technology is also expanding, especially in the field of high-end equipment. This paper conducts a review of research on the application status and progress at the frontier of research on ultrasonic motors. A summary and classification of both the status of application and cutting-edge research progress are presented, including the use of ultrasonic motors in aerospace, precision, biomedical and optical engineering and the influence on ultrasonic motor design resulting from the breakthrough in advanced processing and preparation technology, structural and functional integration technology, low voltage drives and open-loop control systems. Moreover, the performance of products developed with the aid of ultrasonic motors and representative devices are compared; and state of the art ultrasonic motor designs are discussed and summarized. Finally, potential future research efforts and prospects are highlighted.

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Design and analysis of a novel 3-DOF spatial parallel microgripper driven by LUMs

Cited by 24 publications

References 31 publications

Development and dynamics of a novel couple-constrained parallel wrist with three measuring force flexible fingers

Development and dynamics of a novel couple-constrained parallel wrist with three measuring force flexible fingers

Dynamics of moving-object grasped by a hybrid hand

A Review of Application and Development Trends in Ultrasonic Motors

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