Research Papers

Design of a Compliant Gripper With Multimode Jaws

[+] Author and Article Information
Guangbo Hao

School of Engineering-Electrical and
Electronic Engineering,
University College Cork,
Cork T12 YN60, Ireland
e-mail: G.Hao@ucc.ie

Haiyang Li

School of Engineering-Electrical and
Electronic Engineering,
University College Cork,
Cork T12 YN60, Ireland
e-mail: haiyang.li@umail.ucc.ie

Abhilash Nayak

Ecole Centrale de Nantes,
Laboratoire des Sciences du
Numérique de Nantes (LS2N),
Nantes 44321, France
e-mail: Abhilash.Nayak@ls2n.fr

Stephane Caro

Laboratoire des Sciences du
Numérique de Nantes (LS2N),
Nantes 44321, France
e-mail: Stephane.Caro@ls2n.fr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 13, 2017; final manuscript received February 21, 2018; published online March 23, 2018. Assoc. Editor: Guimin Chen.

J. Mechanisms Robotics 10(3), 031005 (Mar 23, 2018) (12 pages) Paper No: JMR-17-1351; doi: 10.1115/1.4039498 History: Received October 13, 2017; Revised February 21, 2018

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.

Copyright © 2018 by ASME
Topics: Design , Grippers
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Grahic Jump Location
Fig. 4

A compliant four-bar mechanism at its constraint singular position (as fabricated)

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Fig. 3

Constraint singular configuration of the planar equilateral four-bar linkage: (a) a = l, b = 0, ϕ = 0 and (b) a = −l, b = 0, ϕ = 0

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Fig. 1

Comparison of traditional parallel-jaw gripper's resolution and size/deformation of objects: (a) resolution of a jaw: ΔJaw, (b) diameter of micro object: Dmicro, and (c) diameter of brittle object: Dbrittle, with a small breaking deformation Δb

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Fig. 5

Operation modes of the compliant four-bar mechanism: (a) operation mode I: rotation in the XY-plane about the axis-L, (b) operation mode II: rotation in the XY-plane about the axis-R, (c) operation mode III: rotation in the XY-plane about other axes except the axis-L and axis-R, and (d) operation mode IV: pure translations in the XY-plane along the X- and Y-axes

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Fig. 8

Design details of the multimode compliant gripper: (a) top layer with two slider-crank mechanisms (indicated by dashed square), (b) bottom layer with two slider-crank mechanisms (indicated by dashed square), and (c) kinematic schematic of half gripper in the initial configuration

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Fig. 6

The generic kinematic configuration (close to constraint singularity) of the four-bar linkage

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Fig. 7

The synthesized multimode compliant gripper: (a) two gripper jaws in two layers, obtained using the constraint singularity in Fig. 4, (b) a multimode gripper: 3D view I, (c) a multimode gripper: side view, and (d) a multimode gripper: 3D view II (in deformation)

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Fig. 9

Gripper operation modes under input displacement control: (a) ab = 1 mm, at = 0, (b) at =1 mm, ab = 0, (c) at = 1 mm, ab = 0.5 mm, and (d) ab = at = 1 mm

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Fig. 2

A planar equilateral four-bar linkage

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Fig. 10

Comprehensive analysis under displacement control (input displacement non-negative): (a) output rotational angle about the Z-axis, (b) output displacement along the Y-axis, (c) input force exerted onto the top layer, and (d) input force exerted onto the bottom layer

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Fig. 11

A fabricated polycarbonate prototype and its testing: (a) assembled prototype and (b) testing rig

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Fig. 12

Input-force and input-displacement comparisons under single-axis force loading: (a) case for Ft = 0 and (b) case for Fb = 0

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Fig. 13

Monolithic design of the reconfigurable compliant gripper: (a) monolithic design and (b) fabricated prototype

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Fig. 14

Operation modes of the monolithic gripper: (a) actuating the linear actuator 1 only in bidirections, (b) actuating the linear actuator 2 only in bidirections, and (c) actuating the two linear actuators simultaneously: parallel grasping (left); general angular grasping (right)




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