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적응형 그리퍼 설계 연구

Study on the Design of a Novel Adaptive Gripper

  • 김기성 (경남대학교 기계융합공학과) ;
  • 김한성 (경남대학교 기계공학부)
  • Kim, Gi Sung (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
  • 투고 : 2019.03.28
  • 심사 : 2019.05.28
  • 발행 : 2019.06.30

초록

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.

키워드

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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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참고문헌

  1. https://robotiq.com
  2. https://www.softroboticsinc.com/
  3. Phillips, C. G. 1986. Movements of the Hand, Liverpool University press.
  4. Tubiana, R. and Thomie, J.-M. 1990. La main: anatomie fonctionnelle etexamen clinique, Editions Masson, Paris.
  5. Montambault, S. Gosselin, C. 2001. Anaysis of Underactuated Mechanical Grippers, Transactions of the ASME, Vol. 123, pp. 367-374. https://doi.org/10.1115/1.1374198
  6. Laliberte, T. Birglen, L. Gosselin, C. 2002. Underactuation in robotic grasping hands, Machine Intelligence & Robotic Control, Vol. 4, No. 3, 1-11.
  7. Cui, J. Yan, S. Hu, J. Chu, Z. 2018. A metric to design spring stiffness of underactuated fingers for stable grasp, Robotics and Autonomous Systems, pp. 1-15.
  8. Demers, L. A. Lefrancois, S. Jobin, J. 2015. Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping, US 8,973,958 B2.
  9. Tsai, L. W. 1999. Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley & Sons, Inc. 124-129.
  10. Norton, R. L. 2008. Design of machinery: an introduction to the synthesis and analysis of mechanisms and machines, McGraw-Hill, Inc. 531-538.