A 1-Dof bidirectional graspable finger mechanism for robotic gripper
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DOI 10.1007/s12206-020-1030-6
Journal of Mechanical Science and Technology 34 (11) 2020 Original Article DOI 10.1007/s12206-020-1030-6 Keywords: · Finger mechanism · Bidirectional grasping · Robotic gripper · Design
Correspondence to: Hongliang Hua [email protected]
Citation: Hua, H., Liao, Z., Chen, Y. (2020). A 1Dof bidirectional graspable finger mechanism for robotic gripper. Journal of Mechanical Science and Technology 34 (11) (2020) 4735~4741. http://doi.org/10.1007/s12206-020-1030-6
Received September 15th, 2019 Revised
June 23rd, 2020
Accepted August 7th, 2020
A 1-Dof bidirectional graspable finger mechanism for robotic gripper Hongliang Hua1,2, Zhenqiang Liao2,3 and YongJiang Chen1 1
School of Aeronautics and Mechanical Engineering, Changzhou Institute of Technology, Changzhou 2 213032, China, School of Mechanical Engineering and Electric Engineering, Global Institute of Software 3 Technology, Suzhou 215163, China, School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
Abstract
The grasping flexibility and control simplicity are essential requirements for robotic gripper. Take above requirements into consideration, we present a 1-Dof four-bar finger mechanism which could produce bidirectional symmetric grasping motion and exhibit a bidirectional grasping ability like soft gripper. The finger mechanism could not only to grasp the object’s outer surface from outside to inside, but also able to extend itself from inside to outside and “grasp” the inner surface of the object. The effects of structural parameters of the finger mechanism on kinematic behavior have been investigated by kinematic modeling and simulations, and some design suggestions are given. A gripper prototype composed of two finger mechanisms is developed, and the effectiveness of the finger mechanism in bidirectional grasping is validated by grasping experiments. Results reveal that due to the symmetrical movement of the two finger mechanisms, they could apply a pair of symmetrical grasping force to the object and keep the stability of the grasping.
† Recommended by Editor Ja Choon Koo
1. Introduction
© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020
Robotics gripper is a key component of the robot to achieve grasping operations. The functionality requirements of the gripper often result in a complex control. Therefore, effective object grasping tasks still present significant challenges to the robotics community [1, 2]. To reconcile the contradiction between functionality and control simplicity of the gripper, some grippers have been developed based on underactuated finger mechanism [3-9]. For the underactuated finger mechanism, part of its phalanges will be blocked as they come into contact with the object, while the remaining phalanges could continue to move and adapt to the object’s surface. Based on the above principle, some prototypes have been developed like famous SARAH-M1 hand [3] and LARM hand [5-8]. The purpose of ad
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