Analysis and design optimization of a compliant robotic gripper mechanism with inverted flexure joints

IF 4.5 1区 工程技术 Q1 ENGINEERING, MECHANICAL
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引用次数: 0

Abstract

Flexure-jointed grippers provide compliant grasping capability, have low-cost and flexible manufacturing, and are insusceptible to joint friction and wear. However, their grasp stiffness can be limited by flexure compliance such that loss-of-grasp is prone to occur for high object loads. This paper examines the application of inverted-flexure joints in a cable-driven gripper that can avoid flexure buckling and greatly enhance grasp stiffness and stability. To analyze behavior, an energy-based kinetostatic model is developed for a benchmark grasping problem and validated by hardware experiments. A multi-objective design optimization study is conducted, considering key metrics of peak flexure stress, grasp stiffness, and cable actuation force. Results show that the inverted-flexure design has significantly higher grasp stiffness (63% higher in a targeted design optimization) and requires lower actuation forces (¿20% lower in all optimization cases), compared with equivalent direct-flexure designs. An application study is conducted to validate the predicted operating performance under gravity loading of the grasped object. The results demonstrate that stable and high stiffness grasping can be achieved, even under overload conditions that lead to loss-of-grasp for conventional direct-flexure designs.

带有倒置挠性接头的顺应式机器人抓手机构的分析与优化设计
挠性接头机械手具有顺应性抓取能力,成本低,制造灵活,不易受接头摩擦和磨损的影响。然而,它们的抓取刚度可能会受到挠性顺应性的限制,因此在物体负载较高时容易出现抓取失灵的情况。本文研究了倒挠性接头在电缆驱动机械手中的应用,它可以避免挠曲屈曲,并大大提高抓取刚度和稳定性。为分析其行为,针对基准抓取问题开发了基于能量的运动静力学模型,并通过硬件实验进行了验证。考虑到弯曲应力峰值、抓取刚度和电缆驱动力等关键指标,进行了多目标优化设计研究。结果表明,与同等的直接挠性设计相比,倒置挠性设计的抓取刚度明显更高(在目标设计优化中提高了 63%),所需的驱动力也更低(在所有优化情况下降低了 20%)。我们进行了一项应用研究,以验证所预测的在抓取物体重力负荷下的工作性能。结果表明,即使在超载条件下,也能实现稳定的高刚度抓取,而传统的直接挠性设计会导致抓取失效。
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来源期刊
Mechanism and Machine Theory
Mechanism and Machine Theory 工程技术-工程:机械
CiteScore
9.90
自引率
23.10%
发文量
450
审稿时长
20 days
期刊介绍: Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry
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