期刊
MECHANISM AND MACHINE THEORY
卷 173, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2022.104843
关键词
Constant-force mechanism; Compliant gripper; Pseudo-rigid-body model; Circular beam
资金
- National Natural Science Foundation of China [52175035, 51805494]
- Fundamental Research Funds for the Central Universities [CUGL180819]
In this paper, a compliant adjustable constant-force gripper based on circular beams is developed for achieving compatible and stable constant-force operation. The effectiveness of the developed gripper is demonstrated through a series of experiments, where a stiffness-combination constant-force mechanism and a devised preload mechanism are applied.
Compliant grippers have been widely used in engineering systems to achieve precision operations. In this paper, a compliant adjustable constant-force gripper based on circular beams is developed for realizing the compatible and stable constant-force operation. In the developed gripper, a stiffness-combination constant-force mechanism (SCCFM) is applied as its basis. A pseudo-rigid-body PPRR model and particle swarm optimization algorithm are utilized for circular-beam modeling and identification of the SCCFM, respectively. A devised preload mechanism realizes the adjustment of the initial preloading state of the SCCFM. A series of experiments are conducted to demonstrate the effectiveness of the developed SCCFM and the gripper.
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