Development of Passively Adaptive Wire Actuated Monolithic and Distributed Compliance Gripper Positioned by Robot Manipulator
Disciplines
Applied Mechanics
Abstract (300 words maximum)
This paper presents the design and development of a two fingered, monolithically designed compliant gripper mounted on a two-link robot. Rigid grippers traditionally designed by rigid links and joints might have low precision due to the friction and backlash. The proposed gripper is designed as a single piece compliant mechanism consisted of several flexible links and attached to a two-link arm robot driven by two step motors. The compliant gripper is actuated by wires through a dc motor to enable grasping objects in various shapes. Input-output motion of the gripper along with the two-link robot is created by integrating the pseudo rigid body modeling (PRBM), vector closure-loop equations, geometric constraints, Newtonian dynamics and finite element analysis. Experimental testing for grasping various objects having different sizes, shapes and weights are carried out to verify the robust performance of the proposed design.
Academic department under which the project should be listed
SPCEET - Mechanical Engineering
Primary Investigator (PI) Name
Ayse Tekes
Development of Passively Adaptive Wire Actuated Monolithic and Distributed Compliance Gripper Positioned by Robot Manipulator
This paper presents the design and development of a two fingered, monolithically designed compliant gripper mounted on a two-link robot. Rigid grippers traditionally designed by rigid links and joints might have low precision due to the friction and backlash. The proposed gripper is designed as a single piece compliant mechanism consisted of several flexible links and attached to a two-link arm robot driven by two step motors. The compliant gripper is actuated by wires through a dc motor to enable grasping objects in various shapes. Input-output motion of the gripper along with the two-link robot is created by integrating the pseudo rigid body modeling (PRBM), vector closure-loop equations, geometric constraints, Newtonian dynamics and finite element analysis. Experimental testing for grasping various objects having different sizes, shapes and weights are carried out to verify the robust performance of the proposed design.