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Design and analysis of a constant-force parallel micro-gripper
Zhang X.; Xu Q.
2018-03-23
Conference Name2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Source Publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume2018-January
Pages1-6
Conference Date5-8 Dec. 2017
Conference PlaceMacau, China
Abstract

This paper presents the design and analysis of a new parallel-kinematic constant-force micro-gripper. The constant-force property is employed to avoid the overloading in gripping process. To constrain the rotational motion of the gripper, the parallel flexure mechanism is adopted. For driving the mechanism, two voice coil motors are used which enable a large-enough travel for the gripper to accomplish full grasp process. To verify the performance of the proposed gripper, analytical modeling and simulation study with finite element analysis are carried out. The analytical modeling is based on pseudo rigid-body method, which is verified by simulation study conducted with ANSYS software. Results show that the gripper achieves a motion of two degree-of-freedom with a compact oversize of 119 mm × 121 mm.

DOI10.1109/ROBIO.2017.8324566
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Document TypeConference paper
专题DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
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Zhang X.,Xu Q.. Design and analysis of a constant-force parallel micro-gripper[C],2018:1-6.
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