Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Strength and Stiffness Analysis for a Flexible Gripper with Parallel Pinching and Compliant Grasping Capabilities

순응형 파지와 정밀한 집기가 가능한 유연한 그리퍼의 강도 및 강성 분석

  • Lee, Deok Won (Dept. of Electronics Engineering, Korea University of Technology and Education) ;
  • Jeon, Hyeong Seok (Dept. of Electronics Engineering, Korea University of Technology and Education) ;
  • Jeong, Young Jun (Dept. of Electronics Engineering, Korea University of Technology and Education) ;
  • Kim, Yong Jae (Dept. of Electronics Engineering, Korea University of Technology and Education)
  • 이덕원 (한국기술교육대학교 전자공학과) ;
  • 전형석 (한국기술교육대학교 전자공학과) ;
  • 정용준 (한국기술교육대학교 전자공학과) ;
  • 김용재 (한국기술교육대학교 전자공학과)
  • Received : 2016.08.03
  • Accepted : 2016.09.05
  • Published : 2016.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

Keywords

Acknowledgement

Grant : 생체모사 바이오낙암

Supported by : 미래부

References

  1. P. F. F. Rosa and T. Okada, "3-D firm grasps with the SCROLLIC gripper," IEEE International Conference on Robotics and Automation, vol. 2, pp. 1662-1667, May 1995.
  2. T. Akaike, Y. Tsumaki, R. Tadakuma, and M. Yamano, "A parallel gripper with capability to use various tools," Proceedings of the 2012 SICE Annual Conference, pp. 2139-2143, 2012.
  3. T. Yoshimi and N. Iwata, "Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper," The 2012 IEEE International Workshop on Advanced Robotics and its Social Impacts, pp. 7-12, 2012.
  4. C. H. Chen and W. D. Chong, "Force controlled robot gripper with flexible joint for delicate assembly task," IEEE International Conference on Automation and Systems, pp. 935-939, 2013.
  5. T. Laliberte, L. Birglen, and C. M. Gosselin, "Underactuation in robotic grasping hands," Machine Intelligence & Robotic Control, vol. 4, no. 3, pp. 1-11, 2002.
  6. R. R. Ma, L. U. Odhner, and A. M. Dollar, "A modular, open-source 3D printed underactuated hand," IEEE International Conference on Robotics and Automation, pp. 2737-2743, 2013.
  7. http://www.barrett.com
  8. https://www.festo.com/net/startpage/
  9. D. H. Kim, N. H. Shin, and M. H. Oh, "Development of anthropomorphic robot hand and arm by tendon-tubes," Journal of Institute of Control, Robotics and Systems, vol. 20, no. 9, pp. 964-970, 2014. https://doi.org/10.5302/J.ICROS.2014.14.0035
  10. H. K. In, U. S. Jeong, B. H. Kang, H. M. Lee, I. W. Koo, and K. J. Cho, "Trend of soft wearable robotic hand," Journal of Institute of Control, Robotics and Systems, vol. 21, no. 6, pp. 531-537, 2015. https://doi.org/10.5302/J.ICROS.2015.15.9029
  11. M. Kaneko and T. Hayashi, "Standing-up characteristic of contact force during self-posture changing motions," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 202-208, 1993.
  12. T. Laliberte and C. M. Gosselin, "Simulation and design of underactuated mechanical hands," Mechanism and Machine Theory, vol. 33, no. 1-2, pp. 39-57, 1998. https://doi.org/10.1016/S0094-114X(97)00020-7
  13. A. Slocum, "FUNdaMENTALS of design" Massachusetts Institute of Technology, 2008.