Journal ArticleDOI
Design and Testing of a Novel 2-DOF Compound Constant-Force Parallel Gripper
Xiaozhi Zhang,Qingsong Xu +1 more
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TLDR
Experimental results reveal that the devised microgripper owns a good decoupling performance and constant-force property in parallel grasping operation in 2-DOF manipulation.Abstract:
This paper presents the design and testing of a novel flexure-based compliant parallel gripper with compound constant-force mechanism. One uniqueness of the microgripper lies in that it achieves two-degree-of-freedom (2-DOF) independent constant-force parallel grasping operations. In each direction, the grasping is executed along with active and passive constant-force properties. The passive constant-force property eliminates the use of force control while the active constant-force enlarges the grasping range by reducing the required driving force. Besides, the passive constant-force property can protect the grasped object from overloading. The parallel-kinematic flexure mechanism design enables nearly decoupled operations in 2-DOF manipulation. Analytical modeling of the microgripper mechanism is carried out based on pseudo-rigid-body method and elliptic integral approach, which is verified by conducting simulation study with nonlinear finite-element analysis (FEA). Parametric study is conducted to investigate the influence of dominant design variable on the microgripper performance. To demonstrate the performance of the gripper, a prototype is fabricated by 3D printer. Experimental results reveal that the devised microgripper owns a good decoupling performance and constant-force property in parallel grasping operation.read more
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Journal ArticleDOI
A Survey of Methods and Strategies for High-Precision Robotic Grasping and Assembly Tasks—Some New Trends
TL;DR: Categorize, review, and compare the recent works focusing on robotic grasping and assembly tasks to reveal some potential trends in this research area and give the readers some knowledge on the current developments in robotic manipulation.
Journal ArticleDOI
A soft gripper with programmable effective length, tactile and curvature sensory feedback
Yufei Hao,Zemin Liu,Jiaqi Liu,Xi Fang,Bin Fang,Shilin Nie,Yingchun Guan,Fuchun Sun,Tianmiao Wang,Li Wen +9 more
TL;DR: This work presents a soft gripper with variable effective lengths (VELs) that is achieved by rapidly softening selective shape memory polymer sections via a flexible heater and proposes a touch-reconfiguration-grasp strategy to showcase the synergy of VELs and sensory feedback.
Journal ArticleDOI
Optimal Design of a Compliant Constant-Force Mechanism to Deliver a Nearly Constant Output Force Over a Range of Input Displacements.
TL;DR: This study presents an optimal design procedure, including topology and geometry optimization methods to design a compliant constant-force mechanism, which can generate a nearly constant output force over a range of input displacements and test results show the constant- force gripper can be used in handling of size-varied fragile objects.
Journal ArticleDOI
Design of A flexure-based mixed-kinematic XY high-precision positioning platform with large range
Rui Lin,Yingzi Li,Yingxu Zhang,Tingwei Wang,Zhenyu Wang,Zihang Song,Zhipeng Dou,Jianqiang Qian +7 more
TL;DR: Experimental results of the platform tests demonstrate that the platform can achieve millimeter-level positioning with good decoupling between the two axes and the eigenfrequencies obtained by experiments indicate that the designed platform is capable of high-speed positioning with large range.
Journal ArticleDOI
Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism
Xiaozhi Zhang,Qingsong Xu +1 more
TL;DR: This paper presents the design and testing of a novel flexure-based compliant parallel gripper with constant driving force that achieves two-degree-of-freedom (2-DOF) independent constant drive force in grasping and rolling operations.
References
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Journal ArticleDOI
New Flexure Parallel-Kinematic Micropositioning System With Large Workspace
TL;DR: An enhanced model-predictive control (EMPC) scheme is presented for positioning control of a novel parallel-kinematic XY micropositioning system, which has a motion range larger than 10 mm along with a compact structure.
Journal ArticleDOI
Development of a novel flexure-based microgripper for high precision micro-object manipulation
TL;DR: In this paper, a compliant-based micro gripper for high precision manipulation of micro-objects is presented, where a combination of Pseudo Rigid Body Model (PRBM) and Finite Element Analysis (FEA) technique has proven to improve the design efficiency by providing the essential guideline to expedite the prototyping procedure which effectively reduces the cost and modeling time.
Journal ArticleDOI
Design of a flexure-based constant-force XY precision positioning stage
Piyu Wang,Qingsong Xu +1 more
TL;DR: In this paper, a flexure-based XY precision positioning stage with constant force output is presented, which reduces the driving force for achieving a large stroke output without using a force controller by combining the bistable beams and positive stiffness leaf flexures.
Journal ArticleDOI
Kinetostatic Modeling of Fully Compliant Bistable Mechanisms Using Timoshenko Beam Constraint Model
Guimin Chen,Fulei Ma +1 more
TL;DR: In this article, an analytical kinetostatic model is developed for FCBMs based on the beam constraint model (BCM) that captures the geometric nonlinearities of beam flexures that undergo relatively small deflections.
Journal ArticleDOI
A hydrogel-based intravascular microgripper manipulated using magnetic fields
TL;DR: In this paper, a magnetic hydrogel-based microgripper that can be wirelessly manipulated using magnetic fields is presented, which can move freely in liquids when driven by direct current (dc) magnetic fields, and perform a gripping motion by using alternating current magnetic fields.
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Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism
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