Advertisement

Conceptual Design and Analysis of Three Jaw Robotic Gripper with Flexural Joints

  • Golak Bihari Mahanta
  • Amruta Rout
  • BBVL. Deepak
  • B. B. Biswal
Conference paper
  • 56 Downloads
Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

Robots are introduced in the manufacturing industry to mechanize the manufacturing process for satisfying the high quality, low-cost product, and to higher productivity rate. Industrial robots are capable to do a wide variety of work like pick and place, material handling, palletizing, welding, and other operations in mechanized industries. Gripper is mounted at the end of the robot acts as the contact medium between the object and the robot. In this paper, we proposed a conceptual design of a three jaw robotic gripper with flexural hinges. The proposed design can grasp small delicate objects by incorporating soft materials. Tendon-driven mechanism is used for the actuation of the gripper to ensure the use of less number of actuators. The proposed model is designed in CATIA and analysis of a single finger mechanism is carried out using ANSYS software.

Keywords

Gripper Flexural joint Design Analysis Soft gripper 

References

  1. 1.
    Tai K, El-Sayed A-R, Shahriari M, Biglarbegian M, Mahmud S (2016) State of the Art robotic grippers and applications. Robotics 5:11.  https://doi.org/10.3390/robotics5020011CrossRefGoogle Scholar
  2. 2.
    Osyczka A, Krenich S (2004) Some methods for multicriteria design optimization using evolutionary algorithms. J Theor Appl Mech 42:565–584Google Scholar
  3. 3.
    Krenich S (2006) Multicriteria design optimization of robot gripper mechanisms. IUTAM Symp Evol Methods Mech 207–218.  https://doi.org/10.1007/1-4020-2267-0_20
  4. 4.
    Mahanta GB, Deepak BBVL, Biswal BB, Rout A, Bala Murali G (2018) Design optimization of robotic gripper links using accelerated particle swarm optimization technique.  https://doi.org/10.1007/978-981-10-8228-3_31
  5. 5.
    Kim EH, Lee SW, Lee YK (2011) A dexterous robot hand with a bio-mimetic mechanism. Int J Precis Eng Manuf 12:227–235.  https://doi.org/10.1007/s12541-011-0031-xCrossRefGoogle Scholar
  6. 6.
    Lee DH, Park JH, Park SW, Baeg MH, Bae JH (2017) KITECH-hand: a highly dexterous and modularized robotic hand. IEEE/ASME Trans Mechatrons 22:876–887.  https://doi.org/10.1109/TMECH.2016.2634602CrossRefGoogle Scholar
  7. 7.
    Rus D, Tolley MT (2018) Design, fabrication and control of soft robots. Nat Rev Mater 3:101–112.  https://doi.org/10.1038/nature14543CrossRefGoogle Scholar
  8. 8.
    Li Y, Chen Y, Yang Y, Wei Y (2017) Passive particle jamming and its stiffening of soft robotic grippers. IEEE Trans Robot 33:446–455.  https://doi.org/10.1109/TRO.2016.2636899CrossRefGoogle Scholar
  9. 9.
    Hassan T, Manti M, Passetti G, D’Elia N, Cianchetti M, Laschi C (2015) Design and development of a bio-inspired, under-actuated soft gripper. Proc Annu Int Conf IEEE Eng Med Biol Soc EMBS 2015-November, 3619–3622.  https://doi.org/10.1109/EMBC.2015.7319176

Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Golak Bihari Mahanta
    • 1
  • Amruta Rout
    • 1
  • BBVL. Deepak
    • 1
  • B. B. Biswal
    • 1
  1. 1.Industrial Design DepartmentNIT RourlelaOdishaIndia

Personalised recommendations