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A one-DOF compliant gripper mechanism with four identical twofold-symmetric Bricard linkages

Published online by Cambridge University Press:  27 October 2022

Kunjing Chen ,
Tianxiang Lai ,
Fufu Yang Open the ORCID record for Fufu Yang [Opens in a new window] ,
Jun Zhang Open the ORCID record for Jun Zhang [Opens in a new window]  and
Ligang Yao
Kunjing Chen
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
Tianxiang Lai
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China
Fufu Yang*
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China Fujian Province Digital Design Center for Manufacturing, Fuzhou, Fujian, 350108, China
Jun Zhang
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China Fujian Province Digital Design Center for Manufacturing, Fuzhou, Fujian, 350108, China
Ligang Yao
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, China Fujian Province Digital Design Center for Manufacturing, Fuzhou, Fujian, 350108, China
*
*Corresponding author. E-mail: yangfufu@fzu.edu.cn
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Abstract

Gripper is one of the most important parts of robot because of contacting with workpieces directly and has attracted lots of research interests. However, the existing grippers are either simple in function or complex in structure. In this paper, we will propose a one-DOF gripper based on a compliant mechanism with four identical twofold-symmetric Bricard linkages. A mobile network with four identical twofold-symmetric Bricard linkages with particular design parameters is constructed at first. Kinematics, such as mobility, singularity, and folding performance, is then analyzed to show the potential of realizing the function of grasping. The result is demonstrated with a physical prototype. To simplify the fabricating process, a compliant mechanism of the network is designed and fabricated with a single polypropylene board, and the grasping function is realized by a cable-driven scheme. Some grasping experiments are carried out on different types of objects which shows that the proposed and fabricated four-figure gripper is simple in structure and has a great grasping function. The work provides a new idea for the design of grippers with low cost, simple structure, and rich functions.

Keywords

one-DOF grippertwofold-symmetric Bricard linkagestruss-transformation methodSVDoverconstrained linkagedeployable structure
Type
Research Article
Information
Robotica , Volume 41 , Issue 4 , April 2023 , pp. 1098 - 1114
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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Footnotes

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Kunjing Chen and Tianxiang Lai contribute equally to the paper.

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