Prototype Gripper Research Articles

A Compact Mechanical Gripper System for Meso-Scale Parts Using a Ball-Roller Joint

In this paper, a compact gripper system is designed to pick up meso-scale parts. A mechanical gripping method is chosen with a new type of joint. Based on the kinematics and material mechanics, the gripper motion is analyzed. Finally, a prototype gripper system based on the design and analysis results is fabricated. The motion principle is checked using laser diodes and position sensing detectors.

Compliant Structures in Book Handling Applications

This paper describes an overview regarding the compliant structures used in library automation context, more precisely in books handling applications. As libraries provide a huge content of printed materials, the automation of books handling becomes a must. In the same point of view, a large amount of routine and repetitive activities will be reduced in the workplace of shelves and in service point. Also, this article presents an innovative design approach in designing library book handling gripper mechanisms. This article proposes one CAD gripper model designed in Solid Works software. The parallel gripper prototype is still in manufacturing process using light-weight glass-fiber reinforced for the material. The CAD model for the gripper and FEM simulation is presented.

Design and fabrication of a microgripper with a topology optimal compliant mechanism

This study describes a new way of using a topology optimum compliant mechanism and a V-shaped beam electrothermal microactuator to design a microgripper. The compliant mechanism is a two-dimensional structure, and it employs flexibility to generate movement without any hinge. Topology optimisation means defining a design domain that has infinite possible shapes. In the topology optimisation procedure, the finite-element method is used to analyse the design domain structure and optimisation theory is applied to solve the problem. This study also discusses the effects of the optimum result when different parameters are defined in topology optimisation. The resulting prototype gripper displacement is as large as 43 µm for 1 V input.

A Two Degree of Freedom Gripper Actuated by SMA with Flexure Hinges

AbstractA gripper prototype was designed and built. It is made by a rigid structure articulated by compliant hinges. Its kinematics consists of both parallel and angular finger motion. The movements were designed to be independent from each other and auto‐adaptive as well. The motions were driven by Ni‐Ti shape memory alloy (SMA) wires. The recovery position is achieved by the elastic force exerted by the flexure hinges in the case of parallel motion and by an axial spring in the case of angular motion. Both the actuators and the hinges were experimentally characterized by suitable test rigs. The gripper prototype was tested and it showed to be able to reach the design performances. © 2003 Wiley Periodicals, Inc.

An overview of the University of Louisiana robotic gripper system project

This paper summarizes a concluded 5-year funded research project (1994-1999) addressing the automated handling and manipulation of limp material, without distortion, deformation or damage. A series of prototype gripper systems (fixed-dimensioned and reconfigurable) were developed and integrated with Adept Series manipulators to demonstrate the gripper applicability to the textiles and apparel industry. A sensor-based control system based on the hierarchical control architecture paradigm (Valavanis and Saridis, Intelligent robotic systems: theory, design and applications, Kluwer, Amsterdam, 1992) controlled the operation of the integrated robotic gripper system. The research concluded with the conceptual and theoretical design of a reconfigurable robotic gripper system (RGS) followed by simulation-based design parameter validation, controlled by a fuzzy logic controller (for both position- and suction-based control). RGS simulation studies demonstrated the distortion-free manipulation of limp material panels of a variety of shapes and sizes.

Suction Control of a Robotic Gripper: A Neuro-Fuzzy Approach

This paper discusses a fuzzy logic control system designed to determine, regulate and maintain the amount of suction needed by a robotic gripper system to perform reliable limp material manipulation. A neuro-fuzzy approach is followed to determine the amount of desired suction (depending on experimentally derived data and plant characteristics). A knowledge-based valve controller is then designed to generate, regulate and maintain the amount of suction calculated by the neuro-fuzzy suction module. The performance of the overall suction control system is compared with actual experimental results obtained when using a prototype gripper system to handle limp material. Further, performance of the fuzzy logic based valve controller is compared to conventional PD and PID controllers. The proposed control scheme is found to enhance the overall functionality of the prototype robotic gripper system.

Modeling, analysis, and performance evaluation of a robotic gripper system for limp material handling

This paper presents an analytical model of a flat surfaced robotic gripper designed to automate the process of reliable, rapid and distortion-free limp material handling. The designed gripper prototype is integrated with an industrial robot manipulator. The gripper geometry and its grasp stability are justified. Performance of the overall system is experimentally tested, based on a set of industry dictated operational constraints. It is found that the gripper system has high reliability, grasp stability, and that it is capable of rapid rates of manipulation.