Design and Parameter Evaluation of a Novel Type Flexible Gripper with Characteristic of Limited Output-force Protection

Ding Bing-xiao; Li Xuan; Lu Song; Zhao Ji-yu

doi:10.12052/gdutxb.210005

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Design and Parameter Evaluation of a Novel Type Flexible Gripper with Characteristic of Limited Output-force Protection

更新时间：2026-05-27

- Design and Parameter Evaluation of a Novel Type Flexible Gripper with Characteristic of Limited Output-force Protection
- Vol. 38, Issue 5, Pages: 52-58(2021)
- 作者机构：
  
  1. 吉首大学物理与机电工程学院，湖南吉首,416000
  2. 澳门大学科技学院,澳门,中国,999078
- 作者简介：
- 基金信息：
- DOI：10.12052/gdutxb.210005
  CLC： TH112
- Published：2021
- 稿件说明：
移动端阅览
丁冰晓, 李玄, 路松, 赵纪宇. 新型限力输出保护功能柔性夹钳的设计与参数评估[J]. 广东工业大学学报, 2021, 38(5): 52-58.

Ding Bing-xiao, Li Xuan, Lu Song, et al. Design and Parameter Evaluation of a Novel Type Flexible Gripper with Characteristic of Limited Output-force Protection[J]. 2021, 38(5): 52-58.
丁冰晓, 李玄, 路松, 赵纪宇. 新型限力输出保护功能柔性夹钳的设计与参数评估[J]. 广东工业大学学报, 2021, 38(5): 52-58. DOI： 10.12052/gdutxb.210005.

Ding Bing-xiao, Li Xuan, Lu Song, et al. Design and Parameter Evaluation of a Novel Type Flexible Gripper with Characteristic of Limited Output-force Protection[J]. 2021, 38(5): 52-58. DOI： 10.12052/gdutxb.210005.

摘要

柔性夹钳因具有微/纳精密操作能力

常应用于微操作系统中

但因抓爪无法提供恒定输出力或恒力范围小

容易造成操作对象的损伤或脱落。根据放大模块与常力模块串联的结构形式

设计了一种具有常力特性的柔性夹钳。基于伪刚体法

建立放大模块中桥式机构与杠杆机构的刚度和放大率数学模型

通过对倾斜导向梁进行分析

得到常力模块的力−位移关系式

计算出恒定输出力为42.5 N

输出范围为370 μm。最后

结合不同柔顺梁的结构参数

运用MATLAB仿真探究了各关键参数对常力特性的影响。研究结果可为常力柔性夹钳的构型设计和分析提供一定的理论支撑。

Abstract

Flexible grippers are widely used in micromanipulation system due to their capability of micro/nano resolution. However

it cannot avoid damaging the grasped object for the gripper cannot provide a constant output force or the limited range constant force. To solve these issues

a flexible gripper with constant force characteristic was designed based on an amplification module and a constant force module with series- structure. Based on the pseudo-rigid body method

the stiffness and magnification ratio model of the bridge type mechanism and the lever mechanism were established. The relationship between the force and displacement of the inclined guide beam was obtained with 42.5 N constant output force and 370 μm output range. Finally

the effect of each parameter on the constant force characteristics was analyzed with MATLAB. The research results can provide some theoretical guidance for the configuration design of flexible constant force grippers.

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references

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