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Compliant gripper with integrated position and grasping/interaction force sensing for microassembly
Qingsong Xu
2017-07-18
Rights HolderUNIVERSITY OF MACAU
Date Available2017-07-18
CountryUS
Subtype实用新型
Contribution Rank1
Abstract

A compliant gripper with integrated position and force sensors dedicated to automated micro-assembly tasks. The gripper possesses a larger gripping range with a bidirectional drive, and is capable of detecting grasping force and environmental interaction forces in horizontal and vertical axes. The gripper has a compliant rotary flexure bearing. The gripper further has a compliant mechanism with two-stage stiffness designed to provide force sensing with dual sensitivities in two measuring ranges to accommodate the grasping of objects with different sizes. The dual-sensitivity, dual-range force sensor provides finer and coarser force sensing in a small and large ranges, respectively. Analytical models are derived to predict the grasping range, force sensing sensitivities, and force measuring ranges. These models are verified by conducting finite-element analysis simulations.

Application Date2015-10-02
Patent NumberUS9708135B2
Language英语
Application NumberUS14873844
Open (Notice) NumberUS9708135B2
Fulltext Access
Document TypePatent
CollectionFaculty of Science and Technology
DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUNIVERSITY OF MACAU
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Qingsong Xu. Compliant gripper with integrated position and grasping/interaction force sensing for microassembly. US9708135B2[P]. 2017-07-18.
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