{"title":"基于Scott-Russell机构的新型柔性夹持器结构设计","authors":"Qingsong Xu","doi":"10.1109/ROBIO.2013.6739699","DOIUrl":null,"url":null,"abstract":"This paper presents the structure design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. As compared with traditional pure-translation grippers, the reported SR-based one exhibits a simple structure as well as compact dimension due to the full use of the in-plane space. The kinematics model of the gripper mechanism is established and finite-element analysis simulations are carried out to verify the structure design. The results not only demonstrate the feasibility of the proposed SR-based gripper design but reveal a promising performance of the gripper when driven by a piezoelectric stack actuator. Moreover, several variations of the gripper structure are presented as well.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Structure design of a new compliant gripper based on Scott-Russell mechanism\",\"authors\":\"Qingsong Xu\",\"doi\":\"10.1109/ROBIO.2013.6739699\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the structure design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. As compared with traditional pure-translation grippers, the reported SR-based one exhibits a simple structure as well as compact dimension due to the full use of the in-plane space. The kinematics model of the gripper mechanism is established and finite-element analysis simulations are carried out to verify the structure design. The results not only demonstrate the feasibility of the proposed SR-based gripper design but reveal a promising performance of the gripper when driven by a piezoelectric stack actuator. Moreover, several variations of the gripper structure are presented as well.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739699\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739699","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Structure design of a new compliant gripper based on Scott-Russell mechanism
This paper presents the structure design and analysis of a novel compliant gripper based on the Scott-Russell (SR) mechanism. An SR mechanism in combination with a parallelogram mechanism enables the achievement of a pure translation of the gripper tips, which is attractive for practical micromanipulation and microassembly applications. As compared with traditional pure-translation grippers, the reported SR-based one exhibits a simple structure as well as compact dimension due to the full use of the in-plane space. The kinematics model of the gripper mechanism is established and finite-element analysis simulations are carried out to verify the structure design. The results not only demonstrate the feasibility of the proposed SR-based gripper design but reveal a promising performance of the gripper when driven by a piezoelectric stack actuator. Moreover, several variations of the gripper structure are presented as well.