Flexure based gripper to grasp hollow objects by internal surface interaction. (April 2022)

• Record Type: Journal Article
• Authors: Kumar, Rajesh; Yadav, Harsh; Gupta, Varan; Khatait, Jitendra P
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 236:Number 8(2022)
• Page Start: 4085
• Page End: 4092
• Publication Date: 2022-04
• Subjects: Gripper -- internal surface grip -- flexure; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/09544062211049858
• Languages: English
• ISSNs: 0954-4062

Abstract

The paper focuses on the design, development, and evaluation of a gripper intended to hold hollow objects by interacting with the inner surface. The gripper moves towards the inside of the hollow object and grips it using the friction forces applied on the surface of the object. The design also ensures the application of variable normal forces on the surface of the object to be grasped. The mathematical architecture is verified using prototypes and experiments.