Conceptual Design and Analysis of Three Jaw Robotic Gripper with Flexural Joints
- 56 Downloads
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.
KeywordsGripper Flexural joint Design Analysis Soft gripper
- 2.Osyczka A, Krenich S (2004) Some methods for multicriteria design optimization using evolutionary algorithms. J Theor Appl Mech 42:565–584Google Scholar
- 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.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
- 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