0
Research Papers

Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper

[+] Author and Article Information
Guochao Bai

Institute of Mechanical, Process and
Energy Engineering,
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: gb9@hw.ac.uk

Xianwen Kong

Mem. ASME
Institute of Mechanical, Process and
Energy Engineering,
School of Engineering and Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: X.Kong@hw.ac.uk

James Millar Ritchie

Institute of Mechanical, Process and
Energy Engineering,
School of Engineering and
Physical Sciences,
Heriot-Watt University,
Edinburgh EH14 4AS, UK
e-mail: J.M.Ritchie@hw.ac.uk

1Corresponding author.

Manuscript received October 14, 2016; final manuscript received December 25, 2016; published online March 24, 2017. Assoc. Editor: K. H. Low.

J. Mechanisms Robotics 9(3), 031017 (Mar 24, 2017) (13 pages) Paper No: JMR-16-1308; doi: 10.1115/1.4035800 History: Received October 14, 2016; Revised December 25, 2016

In recent years, applications in industrial assemblies within a size range from 0.5 mm to 100 mm are increasing due to the large demands for new products, especially those associated with digital multimedia. Research on grippers or robotic hands within the mesoscopic scale of this range has not been explored in any great detail. This paper outlines the development of a gripper to bridge the gap between microgrippers and macrogrippers by extending the gripping range to the mesoscopic scale, particularly without the need to switch grippers during industrial assembly. The mesoscopic scale gripper (meso-gripper) researched in this work has two modes of operation: passive adjusting mode and angled gripping mode, adapting its configuration to the shape of object automatically. This form of gripping and the associated mechanism are both novel in their implementation and operation. First, the concept of mesoscopic scale in robotic gripping is presented and contextualized around the background of inefficient hand switching processes and applications for assembly. The passive adjusting and angled gripping modes are then analyzed and a dual functional mechanism design proposed. A geometric constraint method is then demonstrated which facilitates task-based dimensional synthesis after which the kinematics of synthesized mechanism is investigated. The modified synthesized mechanism gripper is then investigated according to stiffness and layout. Finally, a 3D printed prototype is successfully tested, and the two integrated gripping modes for universal gripping verified.

Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Prototype of a meso-gripper with two gripping modes: (a) passive adjusting mode and (b) angled gripping mode

Grahic Jump Location
Fig. 2

Schematic comparison of the length scales in material science, gripping technology, and molecular biology

Grahic Jump Location
Fig. 3

Gripping processes for hex socket and plastic cuboid: (a) searching, (b) reaching, (c) gripping, and (d) moving

Grahic Jump Location
Fig. 4

CFB mechanism as passive adjusting fingertip: (a) CFB mechanism and (b) CFB-damper-spring components

Grahic Jump Location
Fig. 5

Dual RCM mechanism

Grahic Jump Location
Fig. 6

Sequential gripping process of the integrated mechanism

Grahic Jump Location
Fig. 7

Metamorphic gripping and equivalent mechanism

Grahic Jump Location
Fig. 8

Objective gripping range and key points

Grahic Jump Location
Fig. 9

CFB linkage with integer dimensions

Grahic Jump Location
Fig. 10

Position determination of CFB linkage

Grahic Jump Location
Fig. 11

Initial position of CFB linkage

Grahic Jump Location
Fig. 12

Synthesis of initial position of mechanism

Grahic Jump Location
Fig. 13

Verification of designed mechanism

Grahic Jump Location
Fig. 14

Final design after verification

Grahic Jump Location
Fig. 15

Gripping a 55 mm object during passive adjusting mode: (a) equivalent schematic and (b) range of RA of drive link AC and sliding distance of point I

Grahic Jump Location
Fig. 16

Gripping an object of less than 6 mm at angled mode: (a) equivalent schematic and (b) range of RA of drive link AC and sliding distance of point I

Grahic Jump Location
Fig. 17

Layout of the assembly of meso-gripper

Grahic Jump Location
Fig. 18

Modified schematic considering layers and contact surfaces

Grahic Jump Location
Fig. 19

Kinematic analysis of the meso-gripper at passive adjusting mode

Grahic Jump Location
Fig. 20

Kinematic analysis of the meso-gripper at angled mode

Grahic Jump Location
Fig. 21

Simplification of RCM mechanism

Grahic Jump Location
Fig. 22

Pulley-driven mechanism and the equivalent mechanism

Grahic Jump Location
Fig. 23

Modified schematic and 3D drawing of RCM

Grahic Jump Location
Fig. 24

Relative angles of connecting and crank links for passive adjusting and angled gripping modes

Grahic Jump Location
Fig. 25

Initial and final positions of modified CFB mechanism

Grahic Jump Location
Fig. 26

Movable pulley for underactuated drive

Grahic Jump Location
Fig. 27

Meso-gripper with two modes

Grahic Jump Location
Fig. 28

Gripping tests for different objects. (a) weight, 1 kg, dimensions: Φ105 mm × 120 mm; (b) café cup, 450 g, dimensions: Φ105 mm × 120 mm; (c) wafer, 9.5 g, dimensions: Φ50 mm × 55 mm; (d) screw driver, 12 g, dimensions: Φ7–Φ10 mm; (e) hex wrench, 0.5 g, dimension: Φ1.5 mm; (f) stick pin, 0.5 g, dimensions: Φ0.55–Φ1 mm; and (g) pinecone, 10 g, irregular shape.

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In