Design and prototype of monolithic compliant grippers for adaptive grasping

Chih Hsing Liu, Chen Hua Chiu

研究成果: Conference contribution

7 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2018 3rd International Conference on Control and Robotics Engineering, ICCRE 2018
發行者Institute of Electrical and Electronics Engineers Inc.
頁面51-55
頁數5
ISBN(電子)9781538666630
DOIs
出版狀態Published - 2018 六月 8
事件3rd International Conference on Control and Robotics Engineering, ICCRE 2018 - Nagoya, Japan
持續時間: 2018 四月 202018 四月 23

出版系列

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

Other

Other3rd International Conference on Control and Robotics Engineering, ICCRE 2018
國家/地區Japan
城市Nagoya
期間18-04-2018-04-23

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 機械工業
  • 計算力學

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