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Design and Analysis of a Compound Constant-Force Mechanism for Compliant Gripper
Zhang X.; Xu Q.
2018-10-03
Conference Name2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)
Source PublicationMARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales
Conference Date4-8 July 2018
Conference PlaceNagoya, Japan
Abstract

This paper presents the design and analysis of a new compliant constant-force gripper based on compound constant-force mechanism. The constant-force property can reduce the input force and prevent the object from damage without using a force feedback control. The compound constant-force mechanism contains an active and a passive constant-force structure. The active constant-force structure can reduce the input force, while the passive constant-force structure offers the safe interaction during the gripping operation. To evaluate the performance of the compound constant-force mechanism, analytical modeling is carried out, which is verified by conducting finite element analysis (FEA) simulation study. Results demonstrate the promising performance of the proposed mechanism design.

DOI10.1109/MARSS.2018.8481162
URLView the original
Indexed BySCI
WOS Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000448192500017
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Citation statistics
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
Recommended Citation
GB/T 7714
Zhang X.,Xu Q.. Design and Analysis of a Compound Constant-Force Mechanism for Compliant Gripper[C],2018.
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