The Research of One Two-degree-of-freedom Spatial Gripper with Opening

doi:10.3901/JME.2018.11.094

Abstract

Abstract: In order to improve the flexibility of gripper, the realization form of gripper is explored and a two-degree-of-freedom (2-DoF) spatial gripper with opening based on flexure hinge is proposed. Firstly, the model of the displacement amplification ratio is analyzed on the strength of flexibility characteristic. Meanwhile, the correctness of the model is validated by the comparison between the results of theoretical calculation and finite element analysis. Secondly, the relationship between the input displacement and gripping orientation is researched on the basis of geometric construction, and the change rule of the gripping orientation is revealed. Finally, the reachable workspace of the spatial gripper is acquired on account of the analysis of the maximal angle of the 2-DoF flexure hinge along different directions. The feasibility and effectiveness of the spatial gripper is proved by the above analyses.

Key words: amplification ratio, flexure hinge, gripping orientation, reachable workspace, spatial gripper

CLC Number:

TH122

CAO Yi, LIU Kai, GUI Heli, ZHOU Hui, ZHANG Hong. The Research of One Two-degree-of-freedom Spatial Gripper with Opening[J]. Journal of Mechanical Engineering, 2018, 54(11): 94-101.

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