Design and prototype of monolithic compliant grippers for adaptive grasping

Chih Hsing Liu, Chen Hua Chiu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages51-55
Number of pages5
ISBN (Electronic)9781538666630
DOIs
Publication statusPublished - 2018 Jun 8
Event3rd International Conference on Control and Robotics Engineering, ICCRE 2018 - Nagoya, Japan
Duration: 2018 Apr 202018 Apr 23

Publication series

Name2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018

Other

Other3rd International Conference on Control and Robotics Engineering, ICCRE 2018
CountryJapan
CityNagoya
Period18-04-2018-04-23

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Computational Mechanics

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  • Cite this

    Liu, C. H., & Chiu, C. H. (2018). Design and prototype of monolithic compliant grippers for adaptive grasping. In 2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018 (pp. 51-55). (2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCRE.2018.8376432