Conceptual Design and Modelling of a Self-Adaptive Compliant Parallel Gripper for High-Precision Manipulation

ABSTRACT 1 Corresponding author. E-mail: g.hao@ucc.ie. Tel: +353(0)214903793. To meet the need of advanced compliant parallel grippers (CPGs), this paper deals with the conceptual design and modelling of a novel self-adaptive CPG for high-precision manipulation. A self-adaptive CPG is proposed by using a cymbal-type amplifier and two parallelogram modules at first. The self-adaptive grasping function ensures the mobility of one jaw if another jaw is constrained. Then the displacement amplification ratio and the force-displacement equations of the self-adaptive CPG are derived and compared with the FEA results. Finally, the variations, especially the case with a bistable mechanism as the jaw, are discussed. The self-adaptive grasping function of the proposed CPG is unique compared with the existing CPGs driven by only one linear actuator. Other good performance characteristics of the proposed self-adaptive CPG include: large-stroke, no stress-concentration, minimized parasitic rotation of the jaw, actuator isolation, and a simple and compact configuration.

[1]  J. Zhang,et al.  Cymbal transducers: a review , 2000, ISAF 2000. Proceedings of the 2000 12th IEEE International Symposium on Applications of Ferroelectrics (IEEE Cat. No.00CH37076).

[2]  Guimin Chen,et al.  A Tristable Mechanism Configuration Employing Orthogonal Compliant Mechanisms , 2010 .

[3]  Michael Goldfarb,et al.  A flexure-based gripper for small-scale manipulation , 1999, Robotica.

[4]  S. Kota,et al.  Synthesis of Multistable Equilibrium Compliant Mechanisms Using Combinations of Bistable Mechanisms , 2009 .

[5]  Guangbo Hao.  Creative design and modelling of large-range translation compliant parallel manipulators , 2011 .

[6]  Bijan Shirinzadeh,et al.  Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation. , 2009, The Review of scientific instruments.

[7]  Lionel Birglen,et al.  Design of an Underactuated Compliant Gripper for Surgery Using Nitinol , 2009 .

[8]  Shorya Awtar,et al.  Constraint-based design of parallel kinematic XY flexure mechanisms , 2007 .

[9]  G. K. Ananthasuresh,et al.  Miniature Compliant Grippers With Vision-Based Force Sensing , 2010, IEEE Transactions on Robotics.

[10]  Zhaowei Zhong,et al.  A microgripper using piezoelectric actuation for micro-object manipulation , 2007 .

[11]  Shorya Awtar,et al.  Characteristics of Beam-Based Flexure Modules , 2007 .

[12]  K. Uchino,et al.  The "cymbal" electromechanical actuator , 1996, ISAF '96. Proceedings of the Tenth IEEE International Symposium on Applications of Ferroelectrics.

[13]  R.E. Newnham,et al.  Composite piezoelectric transducer with truncated conical endcaps "cymbal" , 1997, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control.