Prosthetic finger based on fully compliant mechanism for multi-scale grasping
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TECHNICAL PAPER
Prosthetic finger based on fully compliant mechanism for multi-scale grasping Mohammad Mayyas1
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Ikya Mamidala1
Received: 21 July 2020 / Accepted: 22 September 2020 Ó Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract The paper presents a novel design of multi-fingered end-of-arm-tooling mechanism for handling micro–meso scale objects. More particularly, the research aims to develop a compliant prosthetic manipulator designed for rapid 3D manufacturability. The microgripper is constructed from a multiple compliant 5-beam mechanism arranged symmetrically to provide three-dimensional manipulation. Comprehensive one dimensional and three dimensional finite element modeling simulations are conducted including geometrical optimization, structural and dynamic analysis with and without grasping an object, modal and buckling analysis. The results showed capability to tune the structural responses to attain fine to coarse displacement allowing grasping of irregular shapes. Preliminary experimental results showed that using electromagnetic actuation as a source of force input to a 3D printed gripper introduces asymmetrical nonlinear response between the reaction force and displacement measured at the fingertip. Future improvement will involve investigating the effect of the digital printing and force feedback control methods to regulate fingertip displacement.
1 Introduction Robotic endeffectors or end-of-arm-tooling (EOAT) are generally grippers or auxiliary tools mounted onto the wrist of robot (Reddy and Suresh 2013). These end effectors are typically custom made for specific process such as pick-nplace assembly. Grippers or graspers are often electromechanical or fluid-mechanical mechanisms used for pick up, move, and place operations. Application examples include industrial manufacturing for loading, unloading, assembling, sorting, and positioning of objects, remote vehicle manipulators, biological processes and surgical operation (Groover et al. 1986). The industrial robotic systems used in mass production are based on fixed automation and require fixed tooling for each single product (MacDuffie and Pil 1997). However, because the complexity of products have been substantially increasing in form of batch production, flexible automation became essential to accommodate for the variety of product configurations (MacDuffie et al. 1996). The actual first controllable gripper came in 1969, developed by Stanford & Mohammad Mayyas [email protected] 1
Mechatronics Engineering Technology, Bowling Green State University, Bowling Green, OH 43402, USA
University, which is comprised of a two-plate parallel gripper that slides together or apart to grasp and place objects (Nikoobin and Niaki 2012). This came later after the development of the uncontrollable grippers which were fast, but dangerous. Pneumatic source was used for such uncontrollable actuation, which is still in use as of today. In the early 1980s, force feedback control grasping become a
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