Title :
Design of a parallel-type gripper powered by pneumatic actuators
Author :
Yi, B.-J. ; Ra, H.Y. ; Lee, J.H. ; Hong, Y.S. ; Park, J.S. ; Oh, S.R. ; Suh, I.H. ; Kim, W.K.
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., South Korea
Abstract :
A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory
Keywords :
actuators; feedback; force control; manipulator kinematics; pneumatic control equipment; tracking; valves; 4/3 way proportional pressure valve; feedback-based dynamic control; force control; forward position analysis; indirect force control; micro-positioning device; motion tracking; offset pressure; parallel-type gripper design; parallelogramic platform; platform kinematics; pneumatic actuators; pneumatic rotator; Force control; Grippers; Kinematics; Motion analysis; Pneumatic actuators; Pressure control; Shape; Size control; Tracking; Valves;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894684
