Design of a compliant adjustable constant-force gripper based on circular beams. (July 2022)

• Record Type: Journal Article
• Authors: Gan, Jinqiang; Xu, Hao; Zhang, Xianmin; Ding, Huafeng
• Is Part Of: Mechanism and machine theory. Volume 173(2022)
• Publication Date: 2022-07
• Subjects: Constant-force mechanism -- Compliant gripper -- Pseudo-rigid-body model -- Circular beam; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2022.104843
• Languages: English
• ISSNs: 0094-114X

Abstract

Abstract: Compliant grippers have been widely used in engineering systems to achieve precision operations. In this paper, a compliant adjustable constant-force gripper based on circular beams is developed for realizing the compatible and stable constant-force operation. In the developed gripper, a stiffness-combination constant-force mechanism (SCCFM) is applied as its basis. A pseudo-rigid-body PPRR model and particle swarm optimization algorithm are utilized for circular-beam modeling and identification of the SCCFM, respectively. A devised preload mechanism realizes the adjustment of the initial preloading state of the SCCFM. A series of experiments are conducted to demonstrate the effectiveness of the developed SCCFM and the gripper. Highlights: A compliant adjustable constant-force gripper based on circular beams is designed. A stiffness-combination constant-force mechanism is developed. A pseudo-rigid-body PPRR model is used for analyzing circular beams. A simple and effective two-way preload mechanism is proposed for the gripper.