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Kinematics and optimization of a novel 4-DOF two-limb gripper mechanism

Published online by Cambridge University Press:  25 September 2023

Lin Wang ,
Yuefa Fang Open the ORCID record for Yuefa Fang [Opens in a new window] ,
Dan Zhang  and
Yi Yang
Lin Wang
Affiliation:
Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, China Department of Mechanical Engineering, Faculty of Engineering, The Hong Kong Polytechnic University, Hong Kong, China
Yuefa Fang*
Affiliation:
Department of Mechanical Engineering, Beijing Jiaotong University, Beijing, China
Dan Zhang
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering, The Hong Kong Polytechnic University, Hong Kong, China
Yi Yang
Affiliation:
Beijing Aerospace Institute for Metrology and Measurement Technology, Beijing, China
*
Corresponding author: Yuefa Fang; E-mail: yffang@bjtu.edu.cn
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Abstract

This study presents a novel 4-DOF two-limb gripper mechanism with a simple design that offers high adaptability for different objects. The mechanism integrates a three-finger end effector and employs a 2-DOF driving system in both serial kinematic chains mounted on the base, addressing performance problems caused by moving actuators. First, the architecture of the gripper mechanism is described, and its mobility is verified. Next, the inverse and forward kinematic problems are solved, and the Jacobian matrix is derived to analyze the singularity conditions. The inverse and forward singularity surfaces are plotted. The workspace is investigated using a search method, and two indices, manipulability and dexterity, are studied. The proposed manipulator’s parameters are optimized for improved dexterity. The novel gripper mechanism has high potential for grasping different types of parts within a large workspace, making it a valuable addition to the field of robotics.

Keywords

gripperparallel manipulatorkinematic analysisoptimal designmultiple driving system
Type
Research Article
Information
Robotica , Volume 41 , Issue 12 , December 2023 , pp. 3649 - 3671
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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