Skip to main content
Top
Published in:
Cover of the book

2017 | OriginalPaper | Chapter

Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage

Authors : V. Mesaros-Anghel, E.-C. Lovasz, C. M. Gruescu, C. E. Moldovan

Published in: New Advances in Mechanisms, Mechanical Transmissions and Robotics

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

The paper shows the optimal synthesis of grasping device design based on the Chebyshev spacing method. The original grasping device uses two symmetrical four-bar linkages with opposite motion of the jaws fixed on the coupler. The goal of the study is the development of a grasping device with minimal error of the axial centering, which reduces the synthesis to a four-pose one for the four-bar linkage. In order to minimize the centering error of the grasping device an equivalent Chebyshev spacing method for establishing the synthesis poses is used. A simplified pose synthesis method for the grasping four-bar linkage is developed. The both deviations of the axial centering errors (without spacing and with spacing) for the obtained linkage are indicated and analyzed.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Literature
1.
go back to reference Mesaroş-Anghel, V.: Contribution to the synthesis of four-bar linkages used for designing of the grasping devices of the industrial robots (Contribuţii la sinteza mecanismelor articulate aplicate în construcţia dispozitivelor de prehensiune ale roboţilor industriali). PhD Thesis, Politehnica University of Timişoara, Romania, 1991. http://www.dmg-lib.org/ Mesaroş-Anghel, V.: Contribution to the synthesis of four-bar linkages used for designing of the grasping devices of the industrial robots (Contribuţii la sinteza mecanismelor articulate aplicate în construcţia dispozitivelor de prehensiune ale roboţilor industriali). PhD Thesis, Politehnica University of Timişoara, Romania, 1991. http://​www.​dmg-lib.​org/​
2.
go back to reference Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation. Kluwer Academic Publishers, Dordrecht (2004)CrossRefMATH Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation. Kluwer Academic Publishers, Dordrecht (2004)CrossRefMATH
3.
go back to reference Fantoni, G., Santochi, M., Tracht, K., Scholz-Reiter, B., Fleischer, J., Kristoffer, L., Seliger, G., Reinhart, G., Franke, J., Hansen, H.N., Verl, A.: Grasping devices and methods in automated production processes. CIRP Ann.—Manuf. Technol. 63(2), 679–701 (2014) Fantoni, G., Santochi, M., Tracht, K., Scholz-Reiter, B., Fleischer, J., Kristoffer, L., Seliger, G., Reinhart, G., Franke, J., Hansen, H.N., Verl, A.: Grasping devices and methods in automated production processes. CIRP Ann.—Manuf. Technol. 63(2), 679–701 (2014)
4.
go back to reference Carbone, G. (ed.): Grasping in Robotics, vol. 10. Springer Publisher, Series (2013) Carbone, G. (ed.): Grasping in Robotics, vol. 10. Springer Publisher, Series (2013)
5.
go back to reference Brukher, E.: Maschinell betatigte Zange zum Greifen von Rundkorpen, Bundesrepublik Deutschland, Patent 3717091, 21 May 1987 Brukher, E.: Maschinell betatigte Zange zum Greifen von Rundkorpen, Bundesrepublik Deutschland, Patent 3717091, 21 May 1987
6.
go back to reference Chelpanov, I.B., Kolpashnikov, S.N.: Mecanical features of gripper in industrial robots. In: 13th International Symposium on Industrial Robots and Robots, 17–21 April 1983, Chicago Illinois. 2, 18.77–18.90 (1983) Chelpanov, I.B., Kolpashnikov, S.N.: Mecanical features of gripper in industrial robots. In: 13th International Symposium on Industrial Robots and Robots, 17–21 April 1983, Chicago Illinois. 2, 18.77–18.90 (1983)
7.
go back to reference Kristen, M.: Greifkonstruction mit Hilfe der Computergestutzen Lagensynthese. Maschinen-bautechnik 7, 303–308 (1990) Kristen, M.: Greifkonstruction mit Hilfe der Computergestutzen Lagensynthese. Maschinen-bautechnik 7, 303–308 (1990)
8.
go back to reference Qingsen, H.: A linkage mechanism for concentric gripping cylindrical components. In: Proceedings of the 12 National Symposium on Industrial Robots and the 6th International Symposium on Robotised Technologies, Paris, 09–11 June 1982 Qingsen, H.: A linkage mechanism for concentric gripping cylindrical components. In: Proceedings of the 12 National Symposium on Industrial Robots and the 6th International Symposium on Robotised Technologies, Paris, 09–11 June 1982
9.
go back to reference Qingsen, H.: Concentric Gripper, UK Patent, nr. 8127255, 1981 Qingsen, H.: Concentric Gripper, UK Patent, nr. 8127255, 1981
10.
go back to reference Volmer, J.: Industieroboter, Karl–Marx–Stadt. VEB Verlag Technic, Berlin (1980) Volmer, J.: Industieroboter, Karl–Marx–Stadt. VEB Verlag Technic, Berlin (1980)
11.
go back to reference Butterfass, J., Grebenstein, M., Liu, H., Hirzinger, G.: DLR-H and II: Next generation of a dextrous robot hand. In: Proceedings of 2001 IEEE, International Conference on Robotics and Automation, Seoul, Korea (2001) Butterfass, J., Grebenstein, M., Liu, H., Hirzinger, G.: DLR-H and II: Next generation of a dextrous robot hand. In: Proceedings of 2001 IEEE, International Conference on Robotics and Automation, Seoul, Korea (2001)
12.
go back to reference Azlan, N.Z., Yamaura, H.: Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks. Mech. Mach. Theory 49, 52–66 (2012)CrossRef Azlan, N.Z., Yamaura, H.: Anthropomorphic finger with optimized geometric parameters for pinching and grasping tasks. Mech. Mach. Theory 49, 52–66 (2012)CrossRef
13.
go back to reference Zhou, X., Majidi, C., O’Reilly, O.M.: Soft hands: an analysis of some gripping mechanisms in soft robot design. Int. J. Solids Struct. 64–65, 155–165 (2015)CrossRef Zhou, X., Majidi, C., O’Reilly, O.M.: Soft hands: an analysis of some gripping mechanisms in soft robot design. Int. J. Solids Struct. 64–65, 155–165 (2015)CrossRef
14.
go back to reference Tilli, J., Brando, A., Fantoni, G.: Gripping device for heavy and deformable materials handling: concept, design, selection and test. Procedia CIRP 21, 373–378 (2014)CrossRef Tilli, J., Brando, A., Fantoni, G.: Gripping device for heavy and deformable materials handling: concept, design, selection and test. Procedia CIRP 21, 373–378 (2014)CrossRef
15.
go back to reference Chen, W., Xiong, C.: On Adaptive grasp with underactuated anthropomorphic hands. J. Bionic Eng. 13, 59–72 (2016)CrossRef Chen, W., Xiong, C.: On Adaptive grasp with underactuated anthropomorphic hands. J. Bionic Eng. 13, 59–72 (2016)CrossRef
16.
go back to reference Wu, L., Carbone, G., Ceccarelli, M.: Design an underactuated mechanism for a 1 active DOF finger operation. Mech. Mach. Theory 44(2), 336–348 (2009)CrossRefMATH Wu, L., Carbone, G., Ceccarelli, M.: Design an underactuated mechanism for a 1 active DOF finger operation. Mech. Mach. Theory 44(2), 336–348 (2009)CrossRefMATH
17.
go back to reference Wu, L., Kong, Y., Li, X.: Review and research Issues on underactuated finger mechanism. In: Proceedings of the 2015 Chinese Intelligent Automatic Conference, p. 171. Springer (2015) Wu, L., Kong, Y., Li, X.: Review and research Issues on underactuated finger mechanism. In: Proceedings of the 2015 Chinese Intelligent Automatic Conference, p. 171. Springer (2015)
18.
go back to reference Ceccarelli, M., Tavolieri, C., Lu, Z.: Design considerations for underactuated grasp with one DOF anthropomorphic finger mechanism. In: Proceedings of IEEE/RSI International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China, (2006), pp. 1611–1616 Ceccarelli, M., Tavolieri, C., Lu, Z.: Design considerations for underactuated grasp with one DOF anthropomorphic finger mechanism. In: Proceedings of IEEE/RSI International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, China, (2006), pp. 1611–1616
19.
go back to reference Carbone, G., Ottaviano, E., Ceccarelli, M.: An optimum design procedure for both serial and parallel manipulators. Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci. 221(7), 829–843 (2007)CrossRef Carbone, G., Ottaviano, E., Ceccarelli, M.: An optimum design procedure for both serial and parallel manipulators. Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci. 221(7), 829–843 (2007)CrossRef
21.
go back to reference Modler, K.-H., Luck, K.: Getriebetechnik—Analyse, Synthese, Optimierung, vol. 2. Springer, Auflage (1995) Modler, K.-H., Luck, K.: Getriebetechnik—Analyse, Synthese, Optimierung, vol. 2. Springer, Auflage (1995)
22.
go back to reference Mesaroş-Anghel, V., Mesaroş-Anghel, T., Groza, I.-R., Cioabă, V., Mareş, A., Czika, Z.: Centering Grasping Device (Dispozitiv de prehensiune cu centrare). Brevet nr.102291/26.06.1989, Romania Mesaroş-Anghel, V., Mesaroş-Anghel, T., Groza, I.-R., Cioabă, V., Mareş, A., Czika, Z.: Centering Grasping Device (Dispozitiv de prehensiune cu centrare). Brevet nr.102291/26.06.1989, Romania
Metadata
Title
Optimal Design of a Grasping Device Through Simplified Pose Synthesis of a Four-Bar Linkage
Authors
V. Mesaros-Anghel
E.-C. Lovasz
C. M. Gruescu
C. E. Moldovan
Copyright Year
2017
DOI
https://doi.org/10.1007/978-3-319-45450-4_1

Premium Partners