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A 1-Dof bidirectional graspable finger mechanism for robotic gripper

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Abstract

The grasping flexibility and control simplicity are essential requirements for robotic gripper. Take above requirements into consideration, we present a 1-Dof four-bar finger mechanism which could produce bidirectional symmetric grasping motion and exhibit a bidirectional grasping ability like soft gripper. The finger mechanism could not only to grasp the object’s outer surface from outside to inside, but also able to extend itself from inside to outside and “grasp” the inner surface of the object. The effects of structural parameters of the finger mechanism on kinematic behavior have been investigated by kinematic modeling and simulations, and some design suggestions are given. A gripper prototype composed of two finger mechanisms is developed, and the effectiveness of the finger mechanism in bidirectional grasping is validated by grasping experiments. Results reveal that due to the symmetrical movement of the two finger mechanisms, they could apply a pair of symmetrical grasping force to the object and keep the stability of the grasping.

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Acknowledgments

This research is funded by the National Natural Science Foundation of China under Grant No. 51676099.

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Authors and Affiliations

  1. School of Aeronautics and Mechanical Engineering, Changzhou Institute of Technology, Changzhou, 213032, China

    Hongliang Hua & YongJiang Chen

  2. School of Mechanical Engineering and Electric Engineering, Global Institute of Software Technology, Suzhou, 215163, China

    Hongliang Hua & Zhenqiang Liao

  3. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Zhenqiang Liao

Authors
  1. Hongliang Hua
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  2. Zhenqiang Liao
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  3. YongJiang Chen
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Corresponding author

Correspondence to Hongliang Hua.

Additional information

Hongliang Hua is an Assistant Professor at Changzhou Institute of Technology in Jiangsu, China. His current research interests include soft robotics, structural optimization, dynamics and control.

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Hua, H., Liao, Z. & Chen, Y. A 1-Dof bidirectional graspable finger mechanism for robotic gripper. J Mech Sci Technol 34, 4735–4741 (2020). https://doi.org/10.1007/s12206-020-1030-6

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  • DOI: https://doi.org/10.1007/s12206-020-1030-6

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