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Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper

[+] Author Affiliations
Guochao Bai, Xianwen Kong, James Millar Ritchie

Heriot-Watt University, Edinburgh, UK

Paper No. DETC2016-59526, pp. V05AT07A064; 8 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5015-2
  • Copyright © 2016 by ASME


In recent years, applications in industrial assemblies within a size range from 0.5mm to 100mm are increasing due to the large demands for digital multimedia products. Research on grippers or robotic hands within the mesoscopic scale of this range has not been well explored. This paper proposes a mesoscopic scale gripper (meso-gripper) which has two modes: passive adjusting mode and an angled precision gripping mode. The gripper adjusts its shape automatically according to the appropriate mode. This form of gripping and the associated mechanism are novel in their implementation and operation. The meso-gripper which has metamorphic characteristics is generated by integrating a remote center of motion (RCM) mechanism with a cross four-bar (CFB) linkage. The dimensional synthesis of the gripper is outlined for a specified task-based gripping followed by the analysis of the synthesizing mechanism. A differential mechanism is adopted to increase the flexibility of the meso-gripper. Prototype is fabricated and tested using 3D printing technology to verify the feasibility of the design.

Copyright © 2016 by ASME



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