Kuresangsai et al., 2022 - Google Patents
Grasp stability and design analysis of a flexure-jointed gripper mechanism via efficient energy-based modelingKuresangsai et al., 2022
View PDF- Document ID
- 15087940333536787860
- Author
- Kuresangsai P
- Cole M
- Hao G
- Publication year
- Publication venue
- IEEE Robotics and Automation Letters
External Links
Snippet
For flexure-based gripper mechanisms, the arrangement and design of joint elements may be chosen to allow enclosure of objects in grasping. This must provide stable containment under load, without causing excessive stress within the joint materials. This paper describes …
- 238000004458 analytical method 0 title description 12
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING; COUNTING
- G06F—ELECTRICAL DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/50—Computer-aided design
- G06F17/5009—Computer-aided design using simulation
- G06F17/5018—Computer-aided design using simulation using finite difference methods or finite element methods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40611—Camera to monitor endpoint, end effector position
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Wang et al. | Design and modeling of constant-force mechanisms: A survey | |
Ling et al. | Kinetostatic modeling of complex compliant mechanisms with serial-parallel substructures: A semi-analytical matrix displacement method | |
Zhang et al. | Design and testing of a novel 2-DOF compound constant-force parallel gripper | |
Venkiteswaran et al. | A three-spring pseudorigid-body model for soft joints with significant elongation effects | |
Zhang et al. | Design and development of a new 3-DOF active-type constant-force compliant parallel stage | |
Ye et al. | High-accuracy prediction and compensation of industrial robot stiffness deformation | |
Li et al. | Mobility analysis of limited-degrees-of-freedom parallel mechanisms in the framework of geometric algebra | |
Zhu et al. | Design and test of a compact compliant gripper using the Scott–Russell mechanism | |
Briot et al. | Design procedure for a fast and accurate parallel manipulator | |
Guo et al. | Compliant joint design and flexure finger dynamic analysis using an equivalent pin model | |
Ding et al. | FEA-based optimization and experimental verification of a typical flexure-based constant force module | |
Kuresangsai et al. | Grasp stability and design analysis of a flexure-jointed gripper mechanism via efficient energy-based modeling | |
Ling et al. | Extended dynamic stiffness model for analyzing flexure-hinge mechanisms with lumped compliance | |
Liu et al. | Design, analysis and evaluation of a self-lockable constant-force compliant gripper | |
Ting et al. | Clearance-induced position uncertainty of planar linkages and parallel manipulators | |
Xu et al. | Design of an SMA-driven compliant constant-force gripper based on a modified chained pseudo-rigid-body model | |
Hussain et al. | Numerical framework and design optimization of an intrinsically compliant 3-DOF parallel robot | |
Ceglarek et al. | Modeling and optimization of end effector layout for handling compliant sheet metal parts | |
Lin et al. | Modeling and verification for a three-degree-of-freedom flexure-based planar parallel micro manipulator | |
Chi et al. | Design of a parallel gripper based on topology synthesis and evolutionary optimization | |
Troeung et al. | Modelling of tendon-driven continuum robot based on constraint analysis and pseudo-rigid body model | |
Fu et al. | A reconfigurable variable-stiffness parallel beam for compliant robotic mechanisms towards safe human interaction | |
Chi et al. | Kinetostatic modeling of planar compliant mechanisms with flexible beams, linear sliders, multinary rigid links, and multiple loops | |
Zhu et al. | Effect of links deformation on motion precision of parallel manipulator based on flexible dynamics | |
Kuresangsai et al. | Grasp stability and design analysis of a flexure-jointed gripper |