Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects

Guangbo Hao, Ronan Hand, Xianwen Kong, Wenlong Chang, Xichun Luo

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

The structure or configuration of compliant mechanisms can be reconfigured through changing the positions of each compliant module thereof within their position spaces. A number of 1-DOF 2-PRRP compliant parallel grippers (CPGs) can be obtained using the structure re-configurability for manipulating sub-millimeter objects. Even with the geometrical parameters for the system’s pseudorigid-body model (PRBM) and each compliant module kept at the same values, the position of each compliant joint can be anywhere within its position space. The performance of the resulting CPG varies with the position of the compliant joint. In this paper two typical CPG designs are presented and analyzed. Comparisons between FEA simulaiton resutls and analytical models show that the input-output kinematic relationship of the non-compact design agrees better with that of the PRBM due to its better load transmissibility. One can design different structures based on specific design requirements.

Conference

ConferenceIEEE 15th International Conference in Automation and Computing (ICAC'15)
CountryUnited Kingdom
CityGlasgow
Period11/09/1512/09/15

Fingerprint

Grippers
Compliant mechanisms
Analytical models
Kinematics
Finite element method

Keywords

  • position space concept
  • gripper
  • compliant mechanisms
  • submillimeter objects
  • position space
  • conceptual design

Cite this

Hao, G., Hand, R., Kong, X., Chang, W., & Luo, X. (2015). Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects. Paper presented at IEEE 15th International Conference in Automation and Computing (ICAC'15), Glasgow , United Kingdom. https://doi.org/10.1109/IConAC.2015.7313967
Hao, Guangbo ; Hand, Ronan ; Kong, Xianwen ; Chang, Wenlong ; Luo, Xichun. / Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects. Paper presented at IEEE 15th International Conference in Automation and Computing (ICAC'15), Glasgow , United Kingdom.6 p.
@conference{793e3460b25649b09b9da762408cc637,
title = "Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects",
abstract = "The structure or configuration of compliant mechanisms can be reconfigured through changing the positions of each compliant module thereof within their position spaces. A number of 1-DOF 2-PRRP compliant parallel grippers (CPGs) can be obtained using the structure re-configurability for manipulating sub-millimeter objects. Even with the geometrical parameters for the system’s pseudorigid-body model (PRBM) and each compliant module kept at the same values, the position of each compliant joint can be anywhere within its position space. The performance of the resulting CPG varies with the position of the compliant joint. In this paper two typical CPG designs are presented and analyzed. Comparisons between FEA simulaiton resutls and analytical models show that the input-output kinematic relationship of the non-compact design agrees better with that of the PRBM due to its better load transmissibility. One can design different structures based on specific design requirements.",
keywords = "position space concept, gripper, compliant mechanisms, submillimeter objects, position space, conceptual design",
author = "Guangbo Hao and Ronan Hand and Xianwen Kong and Wenlong Chang and Xichun Luo",
note = "{\circledC} 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; IEEE 15th International Conference in Automation and Computing (ICAC'15) ; Conference date: 11-09-2015 Through 12-09-2015",
year = "2015",
month = "11",
day = "1",
doi = "10.1109/IConAC.2015.7313967",
language = "English",

}

Hao, G, Hand, R, Kong, X, Chang, W & Luo, X 2015, 'Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects' Paper presented at IEEE 15th International Conference in Automation and Computing (ICAC'15), Glasgow , United Kingdom, 11/09/15 - 12/09/15, . https://doi.org/10.1109/IConAC.2015.7313967

Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects. / Hao, Guangbo; Hand, Ronan; Kong, Xianwen; Chang, Wenlong; Luo, Xichun.

2015. Paper presented at IEEE 15th International Conference in Automation and Computing (ICAC'15), Glasgow , United Kingdom.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects

AU - Hao, Guangbo

AU - Hand, Ronan

AU - Kong, Xianwen

AU - Chang, Wenlong

AU - Luo, Xichun

N1 - © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

PY - 2015/11/1

Y1 - 2015/11/1

N2 - The structure or configuration of compliant mechanisms can be reconfigured through changing the positions of each compliant module thereof within their position spaces. A number of 1-DOF 2-PRRP compliant parallel grippers (CPGs) can be obtained using the structure re-configurability for manipulating sub-millimeter objects. Even with the geometrical parameters for the system’s pseudorigid-body model (PRBM) and each compliant module kept at the same values, the position of each compliant joint can be anywhere within its position space. The performance of the resulting CPG varies with the position of the compliant joint. In this paper two typical CPG designs are presented and analyzed. Comparisons between FEA simulaiton resutls and analytical models show that the input-output kinematic relationship of the non-compact design agrees better with that of the PRBM due to its better load transmissibility. One can design different structures based on specific design requirements.

AB - The structure or configuration of compliant mechanisms can be reconfigured through changing the positions of each compliant module thereof within their position spaces. A number of 1-DOF 2-PRRP compliant parallel grippers (CPGs) can be obtained using the structure re-configurability for manipulating sub-millimeter objects. Even with the geometrical parameters for the system’s pseudorigid-body model (PRBM) and each compliant module kept at the same values, the position of each compliant joint can be anywhere within its position space. The performance of the resulting CPG varies with the position of the compliant joint. In this paper two typical CPG designs are presented and analyzed. Comparisons between FEA simulaiton resutls and analytical models show that the input-output kinematic relationship of the non-compact design agrees better with that of the PRBM due to its better load transmissibility. One can design different structures based on specific design requirements.

KW - position space concept

KW - gripper

KW - compliant mechanisms

KW - submillimeter objects

KW - position space

KW - conceptual design

UR - http://csee.essex.ac.uk/ICAC2015/

UR - http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?filter%3DAND%28p_IS_Number%3A7313638%29&refinements=4293455711&pageNumber=1&resultAction=REFINE

U2 - 10.1109/IConAC.2015.7313967

DO - 10.1109/IConAC.2015.7313967

M3 - Paper

ER -

Hao G, Hand R, Kong X, Chang W, Luo X. Design of compliant parallel grippers using the position space concept for manipulating submillimeter objects. 2015. Paper presented at IEEE 15th International Conference in Automation and Computing (ICAC'15), Glasgow , United Kingdom. https://doi.org/10.1109/IConAC.2015.7313967