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Design of a Parallel-Type Gripper Mechanism

Byung-Ju Yi, Heung Yeol Na, Jae Hoon Lee, Yeh-Sun Hong, Sang-Rok Oh, Il Hong Suh, Whee Kuk Kim
2002 The international journal of robotics research  
A new parallel-type gripper mechanism is proposed in this work. This device has a parallelogramic platform that can be flexibly folded.  ...  Kinematic optimization is performed to design a parallel-type gripping mechanism so that it can reach the specified workspace, span the given range of the specified configuration parameters, and generate  ...  Design of Parallel Gripper The parallel gripper consists of a linkage part and a driving unit.  ... 
doi:10.1177/027836402322023240 fatcat:f6j7beb4k5fezplx4rsf3kn6mq

Parametric study of a novel asymmetric micro-gripper mechanism

Qingsong XING, Youhua GE
2015 Journal of Advanced Mechanical Design, Systems, and Manufacturing  
Structure of asymmetric type of micro-gripper mechanism The asymmetric type of micro-gripper mechanism is constituted by a displacement input unit, a displacement amplification unit, a flexible parallel  ...  ceramic actuator, and a asymmetric type of micro-gripper mechanism.  ... 
doi:10.1299/jamdsm.2015jamdsm0075 fatcat:lno7i3adqzc6jgoh7cnarntcjy

An Optimization Problem Algorithm for Kinematic Design of Mechanisms for Two-Finger Grippers

Chiara Lanni, Marco Ceccarelli
2009 The Open Mechanical Engineering Journal  
In this paper, an analysis of mechanisms in two-finger grippers has been discussed to formulate an optimum design procedure.  ...  The design problem has been approached and formulated as a new optimization problem by using fundamental characteristics of grasping mechanisms.  ...  An industrial 2-jaws parallel-acting self centering pneumatic gripper, [24]: a) a view of GIMATIC GS-25 type; b) a mechanical design; c) a kinematic scheme. parallel close, parallel open/swivelling close  ... 
doi:10.2174/1874155x00903010049 fatcat:4y5do5pqh5e55fyy4rohivp5da

Design and Implementation of a Multi-Function Gripper for Grasping General Objects

Long Kang, Jong-Tae Seo, Sang-Hwa Kim, Wan-Ju Kim, Byung-Ju Yi
2019 Applied Sciences  
The underactuated gripper consists of two fingers, and each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over one double parallelogram.  ...  This paper presents an integrated gripper that combines a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of objects in different working environments.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app9245266 fatcat:3h3k3w4cjngandwaaxginehmye

Deriving and analyzing the effective parameters in microgrippers performance

A. Nikoobin, M. Hassani Niaki
2012 Scientia Iranica. International Journal of Science and Technology  
The microgripper is a Micro-Electro-Mechanical System (MEMS) with the ability to handle and manipulate micron or sub micron objects precisely.  ...  In this paper, the effective parameters on the performance and designing of the microgrippers are derived by reviewing and comparing their different types.  ...  So, reducing their rotational motion is an important factor in designing a gripper. A parallelogram structure is a simple mechanism to achieve the parallel motion of jaws [1,2,5-7].  ... 
doi:10.1016/j.scient.2012.10.020 fatcat:alyyctyahbc5zies5rqc2z7rxi

Comparative Study of the Parallel and Angular Electrical Gripper for Industrial Applications

Mohammad Javad Fotuhi, Zafer Bingul
2021 Acta Mechanica et Automatica  
The performances of both angular electrical gripper (AEG) and parallel electrical gripper (PEG) mechanisms were compared based on their position and power efficiency.  ...  The aim of this paper is to study the position and power performances of an electrical lead screw-driven industrial gripper mechanism (LSDIGM).  ...  The motion profile of a (a) parallel gripper and (b) angular gripper A-type spring in the LS mode Fig. 7 .Tab. 7 . 77 Fig. 7. (a) Parallel and (b) angular gripper spring force analysis.  ... 
doi:10.2478/ama-2021-0010 fatcat:smjlariapfajzmrth3b3sl45ha

DESIGN AND DEVELOPMENT OF A LEAD SCREW GRIPPER FOR ROBOTIC APPLICATION

Krithikanand Krishnamoorthy
2019 Zenodo  
This paper gives details on the electromechanical design concept and prototype development of a lead screw linear actuated, parallel robotic gripper.  ...  In this paper, presented are the details for the design of an end effector also known as the gripper which works on a lead screw linear mechanism actuated by a dc motor.  ...  The design is complimented by the principles of mechatronic design. Among the broad category of grippers, the l.s.gripper comes under the type of electric actuated parallel jaw grippers [1] .  ... 
doi:10.5281/zenodo.4886588 fatcat:v4zxv4wugvdrrpckgmwatx7h6e

DESIGN AND DEVELOPMENT OF A LEAD SCREW GRIPPER FOR ROBOTIC APPLICATION

Krithikanand Krishnamoorthy
2019 Zenodo  
This paper gives details on the electromechanical design concept and prototype development of a lead screw linear actuated, parallel robotic gripper.  ...  In this paper, presented are the details for the design of an end effector also known as the gripper which works on a lead screw linear mechanism actuated by a dc motor.  ...  The design is complimented by the principles of mechatronic design. Among the broad category of grippers, the l.s.gripper comes under the type of electric actuated parallel jaw grippers [1] .  ... 
doi:10.5281/zenodo.3667079 fatcat:brizcvtdvbcv5jutbay6a2xmj4

Design Optimization of a Flexible Hinge Compliant Micro icro-Gripper ripper Mechanism with Parallel Movement Arms Using Pseudo-Rigid -Body Model

Ageel Alogla, Mahmoud Helal, Abdal Allah Abdal Allah, Elsayed Fathallah
2017 International Conference on Aerospace Sciences and Aviation Technology  
In this paper, Finite Element Analysis (FEA) analysis and design of a compliant micro-gripper compliant mechanism with parallel movement arm are presented by employing its Pseudo Rigid Body Model (PRBM  ...  If the number of smallflexural pivots of a compliant mechanism is increased so that the degree-of-freedom is more than one, the design of the resulting mechanism becomes quite challenging.  ...  Conclusion This research focused on the development of a new type of compliant micro-gripper mechanism utilizing a hybrid compliant mechanism structure concept in the design.  ... 
doi:10.21608/asat.2017.22801 fatcat:tq7zgzpxpfbfpmenuzcln7xiua

A handy new design paradigm

B. Bergelin, B. Slaboch, J. Sun, P. A. Voglewede
2011 Mechanical Sciences  
In a semi-structured environment the biomimetic approach is impractical due to the high complexity of the mechanism and control algorithms.  ...  This paper will outline where recent grippers have failed and will introduce a new design paradigm for grippers along with several underactuated gripper ideas.  ...  This type of device can be better considered as a metamorphic mechanism. Idea 3: Parallel Jaw Gripper with Spring Actuated Joints A third variation of the design utilizes spring plungers ( pad.  ... 
doi:10.5194/ms-2-59-2011 fatcat:lik4mcaw6bgpdgeqdkblfj3qzi

Modeling, Design, and Implementation of an Underactuated Gripper with Capability of Grasping Thin Objects

Long Kang, Sang-Hwa Kim, Byung-Ju Yi
2021 Machines  
Finally, different types of grasping modes are verified experimentally with a two-fingered underactuated robotic gripper.  ...  By adding a torsion spring and a mechanical stopper at a passive joint, this underactuated finger mechanism can be used to perform parallel grasping, shape-adaptive grasping, and environmental contact-based  ...  The design concept of a contact-based pinching grasp for grasping low-height objects. Figure 4 . 4 Figure 4. (a) A new three-phalanx robotic finger mechanism. (b) The underactuated type.  ... 
doi:10.3390/machines9120347 fatcat:fd4mtlh2rvcdthybntrcnad46u

Design of Fixed-Sequence Planar 5R Symmetrical Parallel Manipulators

Vigen Arakelian
2022 International Journal of Mechanics  
The present work proposes a new design concept for a planar 5R symmetrical parallel manipulator.  ...  The merit of the solution is that manipulation systems of this type with cyclic control have only one actuator; the simple design and the control system improve the operational reliability of the mechanical  ...  A simplified design of this type and the control system improves the operational reliability of the mechanical system and reduces steeply the cost of this latter.  ... 
doi:10.46300/9104.2022.16.11 fatcat:kr6jp5fy3falzafvrd56zuigku

State of the Art Robotic Grippers and Applications

Kevin Tai, Abdul-Rahman El-Sayed, Mohammadali Shahriari, Mohammad Biglarbegian, Shohel Mahmud
2016 Robotics  
These advancements will provide a future outlook on the new trends in robotic grippers.  ...  In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster.  ...  The prototype gripper is a parallel end effector controlled by a joystick.  ... 
doi:10.3390/robotics5020011 fatcat:4b7unanxnra3boflun6m2wsco4

3DCLIMBER: A climbing robot for inspection of 3D human made structures

M. Tavakoli, A. Marjovi, L. Marques, A.T. de Almeida
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper mainly discuss the conceptual and detailed design and development of a Pole Climbing robot with minimum degrees of freedom which can climb over 3D structures with bends and branches followed  ...  3DCLIMBER is a running project in the University of Coimbra for developing a climbing robot with the capability of manipulating over 3D human-made structures.  ...  Tavakoli et al. developed a hybrid (serial-parallel) mechanism using electrical cylinders [16] .  ... 
doi:10.1109/iros.2008.4651024 dblp:conf/iros/TavakoliMMA08 fatcat:faonwu6mljbunk7fsm4x3baaeu

Cost-effective Bionic Parallel Robotic Arm that can be Used for Precise Handling in Industry

Muhammad Umer Shahbaz, Asif Sajjad Khan Anjum, Rashid Mehmood, Salman Afghani
2014 International Journal of Advanced Science and Technology  
In this paper we have discussed about a new technique to develop a cost-effective Bionic Parallel robotic arm that can be used for precise handling in industry.  ...  Unlike these designs, with Bionic robot, the drive unit and the handling system are entirely independent of each other. The working and drive levels are spatially separated by the work surface.  ...  Without their prayers, support and efforts of teachers and parents our dream to become engineer could have never come true.  ... 
doi:10.14257/ijast.2014.66.02 fatcat:4ux7uoxzhvgyvnvrog6geeypmq
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