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

The Korean Society of Industry Convergence (한국산업융합학회)
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Design of an Adaptive Gripper with Single Linear Actuator

단일 직선 구동형 적응형 그리퍼 설계

  • Kim, Giseong (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
  • 김기성 (경남대학교 기계융합공학과) ;
  • 김한성 (경남대학교 기계공학부)
  • Received : 2020.02.24
  • Accepted : 2020.04.03
  • Published : 2020.04.30
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Abstract

In this paper, two types of linear actuation methods for the previously proposed adaptive gripper are presented, which includes actual parallelogram inside a five-bar mechanism and has the advantages of smaller actuation torque and larger stroke over the commercial adaptive gripper by RobotiQ. The forward/inverse kinematics and statics analyses for two types of linear actuations are derived. From the inverse kinematics and statics analyses, linear actuation type I is selected and the gripper prototype is designed.

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References

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