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Design Innovation

Gripper Design With Spherical Parallelogram Mechanism

[+] Author and Article Information
Hikmet Kocabas

Faculty of Mechanical Engineering, Istanbul Technical University, 34437 Istanbul, Turkeykocabash@itu.edu.tr

J. Mech. Des. 131(7), 075001 (May 27, 2009) (9 pages) doi:10.1115/1.3125891 History: Received April 10, 2008; Revised March 22, 2009; Published May 27, 2009

A novel spherical gripper mechanism with one degree of freedom was designed. This gripper consists of a network of spherical parallelogram mechanisms. Design limits, work space formulas, and required grasping forces were derived. Parallelogram mechanisms with unequal circular and spiral linkages were also investigated. It was shown that the spherical parallelogram mechanisms with spiral linkages may be used for grasping objects.

Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

The SGM with three couples

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Figure 2

The joints labels (bold) and part labels (italic) on the kinematic model of the SGM with three couples

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Figure 3

A sketch of the planet mechanism, superimposed on the SGM

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Figure 4

Angles of the SGM

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Figure 5

Side view of the SGM

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Figure 6

Front view of the SGM

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Figure 7

Top view of the SGM

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Figure 8

Extension angle φ variation with respect to α and θ

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Figure 9

Top view of the SGM in the open position for α=57 deg

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Figure 10

Top view of closed SGM for α=57 deg

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Figure 11

SGM links with α=57 and θ=10 deg, 20 deg, 30 deg, and 40 deg

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Figure 12

(a) Radial mechanisms and (b) axial linkages on the SGM

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Figure 13

The SGM with spiral links

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Figure 14

The SGM device with circular links

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Figure 15

Perspective view of the SGM with (a) seven and (b) six spiral couples

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Figure 16

Extension angle Ds variation with respect to α and θ

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Figure 17

Extension angle DS variation with respect to α and θ

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Figure 18

Power grasping of spherical and potato shape objects

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Figure 19

Power grasping of cylindrical and conic object

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Figure 20

Pinch grasping of a cylindrical object

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Figure 21

Power grasping of a free form object

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Figure 22

Pinch grasping of a prismatic object

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Figure 23

Grasping of a pen

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Figure 24

Grasping of a rod object

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Figure 25

The SGM grasping a spherical object with four spiral couples

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Figure 26

Pinch grasping forces on a plate object

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Figure 27

(a) Side and (b) front views of the forces on a plate

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Figure 28

Pinch grasping forces on cylindrical experiments

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Figure 29

(a) Side and (b) front views of the forces on cylindrical work part

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Figure 30

Forces on a plate object and a cylindrical work part when the gripper looks down (in vertical orientation)

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Figure 31

Grasping force Q on cylindrical work part along the y axis of gripper

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Figure 32

Spiral grasping force P and grasping force Q variation with respect to θ

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Figure 33

Spiral power grasp and work part weight W when the gripper is horizontal

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Figure 34

Power grasp when the gripper looks down

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Figure 35

Power grasp when the work axis is vertical

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Figure 36

Required torque T to grasp the plate and gap (plate thickness) as secondary axis, with respect to θ

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Figure 37

Spiral grasping torque T and cylindrical work part diameter Ds as secondary axis, with respect to θ

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