Journal of Mechanical Engineering >

2018 , Vol. 54 >Issue 11: 94 - 101

DOI: https://doi.org/10.3901/JME.2018.11.094

The Research of One Two-degree-of-freedom Spatial Gripper with Opening

  • CAO Yi ,
  • LIU Kai ,
  • GUI Heli ,
  • ZHOU Hui ,
  • ZHANG Hong
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  • 1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122;
    2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbini 150080;
    3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Jiangnan University, Wuxi 214122;
    4. Wuxi Professional College of Science and Technology, Wuxi 214028

Received date: 2017-05-19

  Revised date: 2017-12-13

  Online published: 2018-06-05

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Abstract

In order to improve the flexibility of gripper, the realization form of gripper is explored and a two-degree-of-freedom (2-DoF) spatial gripper with opening based on flexure hinge is proposed. Firstly, the model of the displacement amplification ratio is analyzed on the strength of flexibility characteristic. Meanwhile, the correctness of the model is validated by the comparison between the results of theoretical calculation and finite element analysis. Secondly, the relationship between the input displacement and gripping orientation is researched on the basis of geometric construction, and the change rule of the gripping orientation is revealed. Finally, the reachable workspace of the spatial gripper is acquired on account of the analysis of the maximal angle of the 2-DoF flexure hinge along different directions. The feasibility and effectiveness of the spatial gripper is proved by the above analyses.

Key words： spatial gripper; flexure hinge; amplification ratio; gripping orientation; reachable workspace

Cite this article

CAO Yi , LIU Kai , GUI Heli , ZHOU Hui , ZHANG Hong . The Research of One Two-degree-of-freedom Spatial Gripper with Opening[J]. Journal of Mechanical Engineering, 2018 , 54(11) : 94 -101 . DOI: 10.3901/JME.2018.11.094

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