TY - GEN
T1 - Design and prototype of monolithic compliant grippers for adaptive grasping
AU - Liu, Chih Hsing
AU - Chiu, Chen Hua
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by the grant, MOST 105-2221-E-006-082, from the Ministry of Science and Technology of Taiwan.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/6/8
Y1 - 2018/6/8
N2 - This study presents the designs of monolithic compliant grippers made by silicon rubber for adaptive grasping applications. The proposed grippers are symmetric two-finger designs actuated by one linear actuator. An optimal design procedure including topology and size optimization methods is used to synthesize the rubber grippers with the objective to maximize mechanical advantage, which is defined as the ratio of output force to input force. Three grippers synthesized with different design parameters are prototyped. The best design is identified through the adaptability test, and a robotic gripper assembly is developed to demonstrate the effectiveness of the design through the test of grasping irregular objects. The maximum payload for the gripper assembly is identified as 2.5kg.
AB - This study presents the designs of monolithic compliant grippers made by silicon rubber for adaptive grasping applications. The proposed grippers are symmetric two-finger designs actuated by one linear actuator. An optimal design procedure including topology and size optimization methods is used to synthesize the rubber grippers with the objective to maximize mechanical advantage, which is defined as the ratio of output force to input force. Three grippers synthesized with different design parameters are prototyped. The best design is identified through the adaptability test, and a robotic gripper assembly is developed to demonstrate the effectiveness of the design through the test of grasping irregular objects. The maximum payload for the gripper assembly is identified as 2.5kg.
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U2 - 10.1109/ICCRE.2018.8376432
DO - 10.1109/ICCRE.2018.8376432
M3 - Conference contribution
AN - SCOPUS:85050018653
T3 - 2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018
SP - 51
EP - 55
BT - 2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Control and Robotics Engineering, ICCRE 2018
Y2 - 20 April 2018 through 23 April 2018
ER -