Design of a 3D-Printed Compliant Polymeric Constant-Force Buffering Gripping Mechanism

UM > Faculty of Science and Technology > DEPARTMENT OF ELECTROMECHANICAL ENGINEERING

Status	已發表Published
	Design of a 3D-Printed Compliant Polymeric Constant-Force Buffering Gripping Mechanism
	Liu, Y.; Xu, Q.
	2017-05-01
Source Publication	Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA)
Pages	6706-6711
Publisher	IEEE
Abstract	This paper reports on a novel 3D-printed polymeric compliant constant-force buffering gripping mechanism. The motivation of this work is to develop a buffering gripping mechanism to avoid the damage of manipulated biological object induced by excessive displacement output. The presented zero-stiffness mechanism is realized by connecting the negative-stiffness part and positive-stiffness part in parallel. The negative stiffness is obtained by a bistable buckled fixed-guided beam mechanism. Analytical modeling and simulation study are carried out before the prototype fabrication with 3D printing. Experimental results show that the proposed gripping mechanism can provide a constant output force of 780 mN in 500 μm motion range. Results also reveal that the manipulated object bears no deformation in the constant-force range, which is enabled as the excessive displacement output is buffered by the mechanism. The proposed design can be used to replace the existing combined force-displacement control strategy for fragile object manipulation.
Keyword	Constant-force mechanism Force Prototypes Grippers Young's modulus Polymers Analytical models
Language	英語English
The Source to Article	PB_Publication
PUB ID	31272
Document Type	Conference paper
Collection	DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding Author	Xu, Q.
Recommended Citation GB/T 7714	Liu, Y.,Xu, Q.. Design of a 3D-Printed Compliant Polymeric Constant-Force Buffering Gripping Mechanism[C]:IEEE, 2017, 6706-6711.
APA	Liu, Y.., & Xu, Q. (2017). Design of a 3D-Printed Compliant Polymeric Constant-Force Buffering Gripping Mechanism. Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA), 6706-6711.

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