Abstract
This paper proposes a composite compliant two-finger gripper for compliant assembly. During the interaction between grasped objects and the environment, objects can be stably grasped with rigid fingertips, and the flexible structure of the fingers can be passively deformed to achieve passive compliance. Additionally, flexible sensors installed on the finger can actively sense the deformation of the finger and calculate the environmental interaction force of the grasped object, thereby enabling the realization of active compliance. The prototype of the compliant gripper is developed using easily obtainable materials and simple manufacturing methods. Using the principal axes decomposition of the structural compliance method, the flexible beams of the finger are approximated as one hyper-redundant multi-body system. The kinetostatic model and sensing model of the compliant gripper are derived, and the Newton-Raphson method is used to obtain the equilibrium configuration of the flexible beams and the interaction force of the grasped object. A verification experiment demonstrates the validity of the proposed perception method in sensing the interaction force on the grasped object.
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Acknowledgement
This research work was supported in part by the National Key R&D program of China under the Grant 2019YFA0709001, and the National Natural Science Foundation of China under the Grant 52022056.
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Guan, T., Tang, S., Chen, G., Yan, W., Luo, J., Wang, H. (2023). Design and Development of a Composite Compliant Two-finger Gripper. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14268. Springer, Singapore. https://doi.org/10.1007/978-981-99-6486-4_47
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DOI: https://doi.org/10.1007/978-981-99-6486-4_47
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