Design of a parallel-type gripper powered by pneumatic actuators

Author

Yi, B.-J. ; Ra, H.Y. ; Lee, J.H. ; Hong, Y.S. ; Park, J.S. ; Oh, S.R. ; Suh, I.H. ; Kim, W.K.

Author_Institution

Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., South Korea

Volume

1

fYear

2000

fDate

2000

Firstpage

689

Abstract

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory

Keywords

actuators; feedback; force control; manipulator kinematics; pneumatic control equipment; tracking; valves; 4/3 way proportional pressure valve; feedback-based dynamic control; force control; forward position analysis; indirect force control; micro-positioning device; motion tracking; offset pressure; parallel-type gripper design; parallelogramic platform; platform kinematics; pneumatic actuators; pneumatic rotator; Force control; Grippers; Kinematics; Motion analysis; Pneumatic actuators; Pressure control; Shape; Size control; Tracking; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.894684

Filename

894684