Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Parallel Gripper Mechanism

병렬형 그리퍼 메커니즘

  • 조국훈 (한양대학교 전자컴퓨터공학부) ;
  • 이재훈 (한양대학교 전자컴퓨터공학부) ;
  • 이병주 (한양대학교 전자컴퓨터공학부) ;
  • 김희국 (고려대학교 제어계측공학과)
  • Published : 1999.11.01
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Abstract

A new parallel gripper mechanism is proposed in this work. This device has a parallelogrammic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be used as a micro-positioning device after grasping. Based on the position and kinematic analysis for this mechanism, this mechanism has been developed and the motion performance has been tested to corroborate the effectiveness of this mechanism.

Keywords