{"title":"Structure design of a new compliant gripper based on Scott-Russell mechanism","authors":"Qingsong Xu","doi":"10.1109/ROBIO.2013.6739699","DOIUrl":null,"url":null,"abstract":"This paper presents the structure design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. As compared with traditional pure-translation grippers, the reported SR-based one exhibits a simple structure as well as compact dimension due to the full use of the in-plane space. The kinematics model of the gripper mechanism is established and finite-element analysis simulations are carried out to verify the structure design. The results not only demonstrate the feasibility of the proposed SR-based gripper design but reveal a promising performance of the gripper when driven by a piezoelectric stack actuator. Moreover, several variations of the gripper structure are presented as well.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739699","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
This paper presents the structure design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. As compared with traditional pure-translation grippers, the reported SR-based one exhibits a simple structure as well as compact dimension due to the full use of the in-plane space. The kinematics model of the gripper mechanism is established and finite-element analysis simulations are carried out to verify the structure design. The results not only demonstrate the feasibility of the proposed SR-based gripper design but reveal a promising performance of the gripper when driven by a piezoelectric stack actuator. Moreover, several variations of the gripper structure are presented as well.