Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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Study on the Design of a Novel Adaptive Gripper

적응형 그리퍼 설계 연구

  • Kim, Gi Sung (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
  • 김기성 (경남대학교 기계융합공학과) ;
  • 김한성 (경남대학교 기계공학부)
  • Received : 2019.03.28
  • Accepted : 2019.05.28
  • Published : 2019.06.30
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Abstract

In this paper, a novel adaptive gripper with underactuation is presented, which can change its configuration to parallel or power grip mode according to object shapes. Differently from the commercial adaptive gripper by RobotiQ, the proposed gripper includes an actual parallelogram inside a five-bar mechanism, which allows the free selection of actuator locations and can reduce actuation torques effectively. The forward and inverse kinematics for two grip modes and statics analysis have been analyzed. From the comparative design, the proposed gripper has about 20% smaller size, 3.7% larger stroke, and 30.5% smaller average actuation torque than the commercial one.

Keywords

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Fig. 1 Parallel grip of an underactuated gripper

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Fig. 2 Power grip of an underactuated gripper

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Fig. 3 Underactuated gripper mechanism by RobotiQ[8]

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Fig. 4 Vector-loop diagram of the gripper’s right finger

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Fig. 5 Illustration of the two solutions of cy

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Fig. 6 FBD of the proposed gripper

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Fig. 7 FBD of the gripper from RobotiQ

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Fig. 8 Average torque according to actuator location (ax, ay)

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Fig. 9 Stroke according to actuator location (ax, ay)

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Fig. 10 $l^{\ast}_e$ according to stroke for different l2, l3

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Fig. 11 Previous prototype and 3D modeling of the design results

Table 1. Comparison of the kinematic parameters

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Table 2. Comparison of the gripper design results

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References

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