Design and Experiment of a Multi-mode Gripper
In this study, a generalized gripper with multiple modes is designed so that it can grasp various sheet parts. The gripper lies in two sets of fingers and two sets of compact force transmission mechanisms. Firstly, a kinematic model of the hybrid spatial multi-linkage mechanism of gripper is establi...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2023-10-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.10.013 |
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| _version_ | 1841546991609315328 |
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| author | Zhao Chunhui Wan Xiaojin |
| author_facet | Zhao Chunhui Wan Xiaojin |
| author_sort | Zhao Chunhui |
| collection | DOAJ |
| description | In this study, a generalized gripper with multiple modes is designed so that it can grasp various sheet parts. The gripper lies in two sets of fingers and two sets of compact force transmission mechanisms. Firstly, a kinematic model of the hybrid spatial multi-linkage mechanism of gripper is established by means of the D-H method. Multi-objective optimization is performed to maximize workspace, mechanical gain, and structural stiffness; three groups of gripper structure parameters are obtained to construct the virtual prototype; by comparing the results of the optimization process with those of the virtual prototype, the results indicate that the proposed optimization procedure can acquire a larger workspace and greater mechanical gain. Finally, according to the optimized parameters, a generalized gripper is manufactured. Three different grasping mode experiments are carried out to verify the feasibility of the gripper. |
| format | Article |
| id | doaj-art-b3f90a83063f49feb5d4c17e72b82a9e |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2023-10-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b3f90a83063f49feb5d4c17e72b82a9e2025-01-10T14:59:08ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392023-10-0147909542736964Design and Experiment of a Multi-mode GripperZhao ChunhuiWan XiaojinIn this study, a generalized gripper with multiple modes is designed so that it can grasp various sheet parts. The gripper lies in two sets of fingers and two sets of compact force transmission mechanisms. Firstly, a kinematic model of the hybrid spatial multi-linkage mechanism of gripper is established by means of the D-H method. Multi-objective optimization is performed to maximize workspace, mechanical gain, and structural stiffness; three groups of gripper structure parameters are obtained to construct the virtual prototype; by comparing the results of the optimization process with those of the virtual prototype, the results indicate that the proposed optimization procedure can acquire a larger workspace and greater mechanical gain. Finally, according to the optimized parameters, a generalized gripper is manufactured. Three different grasping mode experiments are carried out to verify the feasibility of the gripper.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.10.013Generalized gripperMultiple grasping modesSpatial linkage mechanismMulti-objective optimization |
| spellingShingle | Zhao Chunhui Wan Xiaojin Design and Experiment of a Multi-mode Gripper Jixie chuandong Generalized gripper Multiple grasping modes Spatial linkage mechanism Multi-objective optimization |
| title | Design and Experiment of a Multi-mode Gripper |
| title_full | Design and Experiment of a Multi-mode Gripper |
| title_fullStr | Design and Experiment of a Multi-mode Gripper |
| title_full_unstemmed | Design and Experiment of a Multi-mode Gripper |
| title_short | Design and Experiment of a Multi-mode Gripper |
| title_sort | design and experiment of a multi mode gripper |
| topic | Generalized gripper Multiple grasping modes Spatial linkage mechanism Multi-objective optimization |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2023.10.013 |
| work_keys_str_mv | AT zhaochunhui designandexperimentofamultimodegripper AT wanxiaojin designandexperimentofamultimodegripper |