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Design and Control of a Novel Compliant Constant-Force Gripper Based on Buckled Fixed-Guided Beams
Liu, Yilin; Zhang, Yulong; Xu, Qingsong
2017-02
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN1083-4435
Volume22Issue:1Pages:476-486
Abstract

This paper presents the design and control of a novel gripper device with a passive type of compliant constant-force mechanism. The function of constant-force output is achieved by using the combination of a positive-stiffness and a negative-stiffness mechanism. The negative stiffness is generated by a bistable buckled fixed-guided beam. Conventionally, when gripping a target-object using a high-stiffness gripper, both the displacement control and force control are required to prevent the damage of the object. The uniqueness of the developed constant-force gripper is that it can eliminate the dependence on force control while keeping the force constant via its mechanical structure. The gripper performance is evaluated by the established analytical model and nonlinear finite-element analysis, and validated through experimental study on a fabricated prototype. To achieve a precise position output of the gripper jaw, a discrete-time variable structure control strategy based on a nonswitching type of reaching law is realized. The effectiveness of the gripper system is verified by conducting experimental studies on grasp-hold-release operations of a micro copper wire.

KeywordBuckling Beam Negative Stiffness Piezoelectric Stack Actuator (Psa) Robotic Gripper Sliding Mode Control Variable Structure Control (Vsc)
DOI10.1109/TMECH.2016.2614966
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000395750100048
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
The Source to ArticleWOS
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Citation statistics
Cited Times [WOS]:23   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationDepartment of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Liu, Yilin,Zhang, Yulong,Xu, Qingsong. Design and Control of a Novel Compliant Constant-Force Gripper Based on Buckled Fixed-Guided Beams[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2017,22(1):476-486.
APA Liu, Yilin,Zhang, Yulong,&Xu, Qingsong.(2017).Design and Control of a Novel Compliant Constant-Force Gripper Based on Buckled Fixed-Guided Beams.IEEE-ASME TRANSACTIONS ON MECHATRONICS,22(1),476-486.
MLA Liu, Yilin,et al."Design and Control of a Novel Compliant Constant-Force Gripper Based on Buckled Fixed-Guided Beams".IEEE-ASME TRANSACTIONS ON MECHATRONICS 22.1(2017):476-486.
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