Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects

Hao, Guangbo and Hand, Ronan and Kong, Xianwen and Chang, Wenlong and Luo, Xichun (2015) Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects. In: IEEE 15th International Conference in Automation and Computing (ICAC'15), 2015-09-11 - 2015-09-12. (https://doi.org/10.1109/IConAC.2015.7313967)

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Abstract

The structure or configuration of compliant mechanisms can be reconfigured through changing the positions of each compliant module thereof within their position spaces. A number of 1-DOF 2-PRRP compliant parallel grippers (CPGs) can be obtained using the structure re-configurability for manipulating sub-millimeter objects. Even with the geometrical parameters for the system’s pseudorigid-body model (PRBM) and each compliant module kept at the same values, the position of each compliant joint can be anywhere within its position space. The performance of the resulting CPG varies with the position of the compliant joint. In this paper two typical CPG designs are presented and analyzed. Comparisons between FEA simulaiton resutls and analytical models show that the input-output kinematic relationship of the non-compact design agrees better with that of the PRBM due to its better load transmissibility. One can design different structures based on specific design requirements.

ORCID iDs

Hao, Guangbo, Hand, Ronan, Kong, Xianwen, Chang, Wenlong ORCID logoORCID: https://orcid.org/0000-0002-1809-9104 and Luo, Xichun ORCID logoORCID: https://orcid.org/0000-0002-5024-7058;
  • Item type:Conference or Workshop Item(Paper)
    ID code:56057
    Dates:
    Date
    Event
    2 November 2015
    Published
    31 May 2015
    Accepted
    Notes:© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
    Subjects:Technology > Electrical engineering. Electronics Nuclear engineering
    Department:Faculty of Engineering > Design, Manufacture and Engineering Management
    Depositing user: Pure Administrator
    Date deposited:31 Mar 2016 13:40
    Last modified:11 Nov 2024 16:44
    URI:https://strathprints.strath.ac.uk/id/eprint/56057
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