Conference Publication Details
Mandatory Fields
Hao G.;Kong X.
Proceedings of the ASME Design Engineering Technical Conference
Conceptual design and modelling of a self-Adaptive compliant parallel gripper for high-precision manipulation
2012
December
Validated
1
Scopus: 9 ()
Optional Fields
161
167
To meet the need of advanced compliant parallel grippers (CPGs), this paper deals with the conceptual design and modelling of a novel self-Adaptive CPG for high-precision manipulation. A self-Adaptive CPG is proposed by using a cymbal-Type amplifier and two parallelogram modules at first. The self-Adaptive grasping function ensures the mobility of one jaw if another jaw is constrained. Then the displacement amplification ratio and the force-displacement equations of the self-Adaptive CPG are derived and compared with the FEA results. Finally, the variations, especially the case with a bistable mechanism as the jaw, are discussed. The self-Adaptive grasping function of the proposed CPG is unique compared with the existing CPGs driven by only one linear actuator. Other good performance characteristics of the proposed self-Adaptive CPG include: large-stroke, no stress-concentration, minimized parasitic rotation of the jaw, actuator isolation, and a simple and compact configuration. 2012 by ASME.
10.1115/DETC2012-70045
Grant Details