Design and Testing of a New Large-Range Compliant Gripper

10.6567/IFToMM.14TH.WC.OS3.039

Qing-Song Xu

Flexure mechanism ； mechanism design ； large-range motion ； position/force sensing

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

22 - 27

英文

This paper reports on a new large-range compliant gripper with integrated position and force sensors. The gripper delivers a large gripping range and owns a set of force sensor which is able to detect grasping and environmental interaction forces in two axes. This is enabled by a mechanism design based on a rotary flexure bearing. Moreover, a dual-stiffness compliant mechanism is designed to provide the force sensing with dual sensitivities and measuring ranges. Analytical models are established to predict the grasping range, force sensing sensitivities and ranges, which are verified by conducting finite-element analysis simulations. A proof-of-concept prototype gripper is developed for experimental verification. The dual-sensitivity, dual-range force sensor provides a solution to finer and coarser force sensing in a small and large ranges, respectively.