Compliant Parallel Asymmetrical Gripper System
The paper presents an innovative soft gripper system designed for automated assembling operations. The novel robotic soft gripper utilizes a linear pneumatic muscle as its motor, due to its inherently compliant behavior. This renders redundant the deployment of sensors or complex controllers, due to...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-02-01
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| Series: | Technologies |
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| Online Access: | https://www.mdpi.com/2227-7080/13/2/86 |
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| author | Andrea Deaconescu Tudor Deaconescu |
| author_facet | Andrea Deaconescu Tudor Deaconescu |
| author_sort | Andrea Deaconescu |
| collection | DOAJ |
| description | The paper presents an innovative soft gripper system designed for automated assembling operations. The novel robotic soft gripper utilizes a linear pneumatic muscle as its motor, due to its inherently compliant behavior. This renders redundant the deployment of sensors or complex controllers, due to its mechanical system that ensures the desired adaptive behavior. Adaptivity is attained by adjusting the air pressure in the pneumatic muscle, monitored and controlled in a closed loop by means of a proportional pressure regulator. The kinematic diagram and the functional and constructive models of the gripper system are presented. The developed forces were measured followed by the calculation of stiffness and compliance. The paper concludes with recommendations for the operation of the gripper. |
| format | Article |
| id | doaj-art-cdec769262b344909482e86d4296e8c1 |
| institution | DOAJ |
| issn | 2227-7080 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Technologies |
| spelling | doaj-art-cdec769262b344909482e86d4296e8c12025-08-20T02:45:30ZengMDPI AGTechnologies2227-70802025-02-011328610.3390/technologies13020086Compliant Parallel Asymmetrical Gripper SystemAndrea Deaconescu0Tudor Deaconescu1Department of Industrial Engineering and Management, Transilvania University of Brasov, 500036 Brasov, RomaniaDepartment of Industrial Engineering and Management, Transilvania University of Brasov, 500036 Brasov, RomaniaThe paper presents an innovative soft gripper system designed for automated assembling operations. The novel robotic soft gripper utilizes a linear pneumatic muscle as its motor, due to its inherently compliant behavior. This renders redundant the deployment of sensors or complex controllers, due to its mechanical system that ensures the desired adaptive behavior. Adaptivity is attained by adjusting the air pressure in the pneumatic muscle, monitored and controlled in a closed loop by means of a proportional pressure regulator. The kinematic diagram and the functional and constructive models of the gripper system are presented. The developed forces were measured followed by the calculation of stiffness and compliance. The paper concludes with recommendations for the operation of the gripper.https://www.mdpi.com/2227-7080/13/2/86soft gripperpneumatic musclecompliance |
| spellingShingle | Andrea Deaconescu Tudor Deaconescu Compliant Parallel Asymmetrical Gripper System Technologies soft gripper pneumatic muscle compliance |
| title | Compliant Parallel Asymmetrical Gripper System |
| title_full | Compliant Parallel Asymmetrical Gripper System |
| title_fullStr | Compliant Parallel Asymmetrical Gripper System |
| title_full_unstemmed | Compliant Parallel Asymmetrical Gripper System |
| title_short | Compliant Parallel Asymmetrical Gripper System |
| title_sort | compliant parallel asymmetrical gripper system |
| topic | soft gripper pneumatic muscle compliance |
| url | https://www.mdpi.com/2227-7080/13/2/86 |
| work_keys_str_mv | AT andreadeaconescu compliantparallelasymmetricalgrippersystem AT tudordeaconescu compliantparallelasymmetricalgrippersystem |