Design and test of a compact compliant gripper using the Scott–Russell mechanism

• Autorzy: Zhu Jiaxiang , Hao Guangbo

Identyfikatory

DOI

10.1007/s43452-020-00085-3

• Języki publikacji: EN

Abstrakty

EN

This paper presents the design, modeling, fabrication, and test of a monolithic compliant gripper for micro-manipulation applications. A compact compliant mechanism that enables in-principle straight-line parallel jaw motion is obtained, by combining the Scott–Russell mechanism and the parallelogram mechanism. The right-circular corner-filleted (RCCF) flexure hinge is adopted to achieve a large displacement of lumped-compliance joints. A pseudo-rigid-body model (PRBM) method with the help of the virtual work principle is performed to obtain parametric analytical models including the amplification coefficient and kinetostatics. Finite element analysis (FEA) is conducted to validate the analytical model and capture adverse parasitic motions of jaws. A monolithic prototype was fabricated, the test results of which show satisfactory performances.

Słowa kluczowe

EN

compliant gripper; micromanipulation; large displacement; straight-line motion; compact configuration

PL

chwytak; przemieszczenie; konfiguracja

• Wydawca: Springer ; Wrocław University of Science and Technology
• Czasopismo: Archives of Civil and Mechanical Engineering
• Rocznik: 2020
• Tom: Vol. 20, no. 3
• Strony: 254--265
• Opis fizyczny: Bibliogr. 34 poz., fot., rys., wykr.

Twórcy

autor

Zhu Jiaxiang

• School of Engineering‑Electrical and Electronic Engineering, University College Cork, Cork T12 K8AF, Ireland

autor

Hao Guangbo

• School of Engineering‑Electrical and Electronic Engineering, University College Cork, Cork T12 K8AF, Ireland

Bibliografia

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021)