An Underactuated Universal Gripper: Design, Analysis, and Experiment
As the working tool of the robot, the importance of the gripper becomes more prominent with the extensive use of the robot. This paper proposes a new type of underactuated universal gripper that can be applied to handle lightweight parts of any shape. It integrates a crank train and a four-bar mecha...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/15/23/9151 |
| _version_ | 1797463256123572224 |
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| author | Chunguang Wang Yulin Zhou Bing Xie Jiuming Xie Junsheng Zhang |
| author_facet | Chunguang Wang Yulin Zhou Bing Xie Jiuming Xie Junsheng Zhang |
| author_sort | Chunguang Wang |
| collection | DOAJ |
| description | As the working tool of the robot, the importance of the gripper becomes more prominent with the extensive use of the robot. This paper proposes a new type of underactuated universal gripper that can be applied to handle lightweight parts of any shape. It integrates a crank train and a four-bar mechanism to grasp objects. The kinematics and statics analysis of the proposed gripper were carried out; and in this paper, we briefly introduce the concept and control system design. Then, the motion characteristics and grasping ability of the underactuated gripper are presented. A prototype of the gripper was designed and manufactured based on the simulation analysis, and relevant grasping experiments were carried out. The experimental results verify that the proposed universal gripper has the advantages of safe design, easy manufacturing, effective gripping, and stable holding of objects. |
| first_indexed | 2024-03-09T17:48:06Z |
| format | Article |
| id | doaj.art-0e2f61a09824455383a4abc588a0df09 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-09T17:48:06Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-0e2f61a09824455383a4abc588a0df092023-11-24T10:56:09ZengMDPI AGEnergies1996-10732022-12-011523915110.3390/en15239151An Underactuated Universal Gripper: Design, Analysis, and ExperimentChunguang Wang0Yulin Zhou1Bing Xie2Jiuming Xie3Junsheng Zhang4School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, ChinaSchool of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, ChinaSchool of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, ChinaSchool of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, ChinaAs the working tool of the robot, the importance of the gripper becomes more prominent with the extensive use of the robot. This paper proposes a new type of underactuated universal gripper that can be applied to handle lightweight parts of any shape. It integrates a crank train and a four-bar mechanism to grasp objects. The kinematics and statics analysis of the proposed gripper were carried out; and in this paper, we briefly introduce the concept and control system design. Then, the motion characteristics and grasping ability of the underactuated gripper are presented. A prototype of the gripper was designed and manufactured based on the simulation analysis, and relevant grasping experiments were carried out. The experimental results verify that the proposed universal gripper has the advantages of safe design, easy manufacturing, effective gripping, and stable holding of objects.https://www.mdpi.com/1996-1073/15/23/9151universal gripperunderactuatedgrip analysisend effectorfigure |
| spellingShingle | Chunguang Wang Yulin Zhou Bing Xie Jiuming Xie Junsheng Zhang An Underactuated Universal Gripper: Design, Analysis, and Experiment Energies universal gripper underactuated grip analysis end effector figure |
| title | An Underactuated Universal Gripper: Design, Analysis, and Experiment |
| title_full | An Underactuated Universal Gripper: Design, Analysis, and Experiment |
| title_fullStr | An Underactuated Universal Gripper: Design, Analysis, and Experiment |
| title_full_unstemmed | An Underactuated Universal Gripper: Design, Analysis, and Experiment |
| title_short | An Underactuated Universal Gripper: Design, Analysis, and Experiment |
| title_sort | underactuated universal gripper design analysis and experiment |
| topic | universal gripper underactuated grip analysis end effector figure |
| url | https://www.mdpi.com/1996-1073/15/23/9151 |
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