In recent years, applications in industrial assemblies within a size range from 0.5mm to 100mm are increasing due to the large demands for digital multimedia products. Research on grippers or robotic hands within the mesoscopic scale of this range has not been well explored. This paper proposes a mesoscopic scale gripper (meso-gripper) which has two modes: passive adjusting mode and an angled precision gripping mode. The gripper adjusts its shape automatically according to the appropriate mode. This form of gripping and the associated mechanism are novel in their implementation and operation. The meso-gripper which has metamorphic characteristics is generated by integrating a remote center of motion (RCM) mechanism with a cross four-bar (CFB) linkage. The dimensional synthesis of the gripper is outlined for a specified task-based gripping followed by the analysis of the synthesizing mechanism. A differential mechanism is adopted to increase the flexibility of the meso-gripper. Prototype is fabricated and tested using 3D printing technology to verify the feasibility of the design.
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ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 21–24, 2016
Charlotte, North Carolina, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5015-2
PROCEEDINGS PAPER
Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper
Guochao Bai,
Guochao Bai
Heriot-Watt University, Edinburgh, UK
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Xianwen Kong,
Xianwen Kong
Heriot-Watt University, Edinburgh, UK
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James Millar Ritchie
James Millar Ritchie
Heriot-Watt University, Edinburgh, UK
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Guochao Bai
Heriot-Watt University, Edinburgh, UK
Xianwen Kong
Heriot-Watt University, Edinburgh, UK
James Millar Ritchie
Heriot-Watt University, Edinburgh, UK
Paper No:
DETC2016-59526, V05AT07A064; 8 pages
Published Online:
December 5, 2016
Citation
Bai, G, Kong, X, & Ritchie, JM. "Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper." Proceedings of the ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5A: 40th Mechanisms and Robotics Conference. Charlotte, North Carolina, USA. August 21–24, 2016. V05AT07A064. ASME. https://doi.org/10.1115/DETC2016-59526
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