Research Papers

An Analytical Contact Model for Design of Compliant Fingers

[+] Author and Article Information
Chao-Chieh Lan1

Department of Mechanical Engineering, National Cheng Kung University, No. 1 University Road, Tainan 701, Taiwancclan@mail.ncku.edu.tw

Kok-Meng Lee

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405


Corresponding author.

J. Mech. Des 130(1), 011008 (Dec 07, 2007) (8 pages) doi:10.1115/1.2803655 History: Received July 27, 2006; Revised February 09, 2007; Published December 07, 2007

A compliant gripper gains its dextral manipulation by the flexural motion of its fingers. It is a preferable device as compared to grippers with multijoint actuations because of reduced fabrication complexity and increased structural reliability. The prediction of contact forces and deflected shape are essential to the design of a compliant finger. A formulation based on nonlinear constrained minimization is presented to analyze contact problems of compliant fingers. The deflections by flexural and shear deformations are both considered. For a planar finger, this formulation further reduces the domain of discretization by one dimension. Hence, it offers a simpler formulation and is computationally more efficient than other methods such as finite element analysis. This method is rather generic and can facilitate design analysis and optimization of compliant fingers. We illustrate some of these attractive features with two types of compliant fingers, one for object handling and the other for snap-fit assembly applications.

Copyright © 2008 by American Society of Mechanical Engineers
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Figure 1

Compliant gripping contacts

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Figure 2

Grip with a rigid jaw

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Figure 3

Formulation of constraint functions

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Figure 4

Schematic of a rotating gripper contacting a target

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Figure 5

Snapshots of finger-ellipse contact (ϕ=126deg, 102deg, 78deg from left to right)

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Figure 6

Comparison of deflected shape at ϕ=90deg

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Figure 7

Angle of rotation and shear angle at ϕ=90deg

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Figure 8

Comparison of simulation results (μ=0)

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Figure 9

Comparison of simulation results (μ=0.5)

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Figure 10

Gripping for snap-fit assembly

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Figure 11

Effect of thickness on insertion force (Example II(a); μ=0, w=0.0032m and δw=0.001m)

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Figure 12

Effect of friction on insertion force (Example II(a); μ=0, 0.2, 0.4; w=0.0032m)

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Figure 13

Simulation results from FEM (Example II(a))

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Figure 14

Comparison of deflected shape at xc=0.0612m (Example II(b))

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Figure 15

Insertion force of Example II(b)

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Figure 16

Relations between the maximum insertion force and finger geometry (Example II(b); μ=0)



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