Design of a Compliant Gripper With Multimode Jaws

Abstract

This paper presents the design of a multimode compliant gripper, using the singularities of the four-bar mechanism with equilateral links. The mobility of the compliant gripper can be reconfigurable to grasp a variety of shapes or adapt to specific requirements. The compliant gripper is a compact and two-layer structure. Two linear actuators are required to enable the multiple operation modes, by the conversion of two pairs of slider-crank mechanisms. A multimode compliant four-bar mechanism is first presented and kinematically analyzed. The design and the kinetostatic modeling of the resulting compliant gripper are then performed. Finally, the analysis of the reconfigurable compliant gripper under different actuation schemes is carried out, including the comparison of the results obtained from analytical modeling, finite element analysis (FEA), and experimental testing.

Beyond Human Hand: Shape-Adaptive and Reversible Magnetorheological Elastomer-Based Robot Gripper Skin

“…The anatomy of the human hands, the deformability of the skin and muscle, and their complex cognitive functions define their holding procedures and contact forces, resulting in highly developed grasping ability. Based on the efficient grasping characteristics of the human hands, various robot hands have been recently developed to improve object manipulation efficiency. − These robot hands can be categorized into two groups: adaptive grippers (dexterous robot hands) and parallel grippers. Adaptive grippers comprise many joints, which can not only skillfully handle various objects and grasp objects similar to human hands, but also undertake human-like motions, such as handshakes and sign languages.…”

Design and Test of a Curved-Beam Based Compliant Gripper for Manipulations of Actively Deformable Objects

“…Compliant constant force grippers can deliver precise force output independent on complex control algorithms and structures [10] and thus are perfect candidates for handling and manipulating delicate objects with various sizes and stiffness [11], [12]. Grippers based on constant force mechanisms have been developed, where representative results include two-stage microgripper [13], bi-directionally adjustable gripper [14], force-sensing microinjector [15], apple picking actuator [16], 3D-printed gripper [17], 2-DOF gripper [18], [19], multi-mode gripper [20], [21].…”

Flexure based gripper to grasp hollow objects by internal surface interaction

“…38 Compliant mechanisms with planar and parallel jaws which grip the objects externally have also been developed. 39 Compliant single part mechanisms have also been developed for precise grasping like the ones required in precise surgical tools like laparoscopes. 40 Topology optimization techniques have also been utilized for design compliant mechanisms intended for parallel gripping of the objects.…”