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COMPLIANT GRIPPER WITH INTEGRATED POSITION AND GRASPING/INTERACTION FORCE SENSING FOR MICROASSEMBLY
COMPLIANT GRIPPER WITH INTEGRATED POSITION AND GRASPING/INTERACTION FORCE SENSING FOR MICROASSEMBLY
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机译:具有集成位置的抓取器和微组件的抓取/相互作用力感应
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摘要
A compliant gripper with integrated position and force sensors dedicated to automated micro-assembly tasks. The gripper possesses a larger gripping range with a bidirectional drive, and is capable of detecting grasping force and environmental interaction forces in horizontal and vertical axes. The gripper has a compliant rotary flexure bearing. The gripper further has a compliant mechanism with two-stage stiffness designed to provide force sensing with dual sensitivities in two measuring ranges to accommodate the grasping of objects with different sizes. The dual-sensitivity, dual-range force sensor provides finer and coarser force sensing in a small and large ranges, respectively. Analytical models are derived to predict the grasping range, force sensing sensitivities, and force measuring ranges. These models are verified by conducting finite-element analysis simulations.
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