Abstract
In the field of industrial robots, miniaturization of electric grippers used to pick and place workpieces is required. This study aimed at the development of the gripping mechanism that obtains a large opening/closing distance of the fingers with a small driving displacement utilizing the snap-through buckling phenomenon. In this study, a prototype of the gripper finger was made from a thin elastic plate. The elastic finger was modeled as a series of links connected with 2-DOF elastic joints, and the gripping operation simulation was performed based on the stationary potential energy using the Lagrange multiplier method for introducing the geometrical boundary conditions as constraints. From a result of the simulation, it was found that there is an optimal positional relationship between the fingertip and the gripped object to maximize the gripping force.
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