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.
Design of a Compliant Gripper With Multimode Jaws
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.
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Hao, G., Li, H., Nayak, A., and Caro, S. (March 23, 2018). "Design of a Compliant Gripper With Multimode Jaws." ASME. J. Mechanisms Robotics. June 2018; 10(3): 031005. https://doi.org/10.1115/1.4039498
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