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An Underactuated Universal Gripper: Design, Analysis, and Experiment

Author

Listed:
  • Chunguang Wang

    (School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
    School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China)

  • Yulin Zhou

    (School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China)

  • Bing Xie

    (School of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, China)

  • Jiuming Xie

    (School of Mechanical Engineering, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China)

  • Junsheng Zhang

    (School of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, China)

Abstract

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.

Suggested Citation

  • Chunguang Wang & Yulin Zhou & Bing Xie & Jiuming Xie & Junsheng Zhang, 2022. "An Underactuated Universal Gripper: Design, Analysis, and Experiment," Energies, MDPI, vol. 15(23), pages 1-17, December.
    • Handle: RePEc:gam:jeners:v:15:y:2022:i:23:p:9151-:d:991719
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