Abstract
A passive monolithic compliant grasping mechanism that works based on the eversion of an elastically deformable bistable shell is conceptualized. It comprises grasping arms made of beam segments that work in conjunction with the everting shell. The grasper is capable of picking up a stiff object of any shape up to a maximum size and weight. The bistable shell everts upon contact with the object to enable the grasping arms envelop the object forming an enclosure. The mechanism then stays in that configuration until it is actuated again to turn the shell back to its original configuration and thereby opening the enclosure to release the object. The stiffness of the arms decides the payload of the mechanism. The size of the arms decides the largest object that can be grasped and held. The arms have distributed compliance so that they can conform to the shape of the object without applying undue force on it.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Bicchi A, Kumar V (2000) Robotic grasping and contact: a review. In: ICRA, vol 348. Citeseer, p 353
Murray RM (2017) A mathematical introduction to robotic manipulation. CRC Press
Choi H, Koc M (2006) Design and feasibility tests of a flexible gripper based on inflatable rubber pockets. Int J Mach Tools Manuf 46(12–13):1350–1361
Maruyama R, Watanabe T, Uchida M (2013) Delicate grasping by robotic gripper with incompressible fluid-based deformable fingertips. In: 2013 IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 5469–5474
Amend JR, Brown E, Rodenberg N, Jaeger HM, Lipson H (2012) A positive pressure universal gripper based on the jamming of granular material. IEEE Trans Robot 28(2):341–350
Brown E, Rodenberg N, Amend J, Mozeika A, Steltz E, Zakin MR, Lipson H, Jaeger HM (2010) Universal robotic gripper based on the jamming of granular material. Proc Natl Acad Sci 107(44):18809–18814
Manti M, Cacucciolo V, Cianchetti M (2016) Stiffening in soft robotics: a review of the state of the art. IEEE Robot Autom Mag 23(3):93–106
Laliberté T, Birglen L, Gosselin C (2002) Underactuation in robotic grasping hands. Mach Intell Robot Control 4(3):1–11
Stavenuiter RA, Birglen L, Herder JL (2017) A planar underactuated grasper with adjustable compliance. Mech Mach Theory 112:295–306
Nguyen T-A, Wang D-A (2016) A gripper based on a compliant bitable mechanism for gripping and active release of objects. In: International conference on manipulation, automation and robotics at small scales (MARSS). IEEE, pp 1–4
Hibbett, Karlsson, Sorensen (1998) ABAQUS/standard: user’s manual, vol 1. Karlsson & Sorensen, Hibbitt
Palathingal S, Ananthasuresh G (2017) Design of bistable arches by determining critical points in the force-displacement characteristic. Mech Mach Theory 117:175–188
Krishnan G, Ananthasuresh G (2008) Evaluation and design of displacement-amplifying compliant mechanisms for sensor applications. J Mech Des 130(10):102304
Acknowledgements
We acknowledge the grant from the Technology Initiative for Disabled and Elderly (TIDE) programme of the Department of Science and Technology, Government of India.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Balakuntala, M.V.S., Palathingal, S., Ananthasuresh, G.K. (2021). A Passive Universal Grasping Mechanism Based on an Everting Shell. In: Sen, D., Mohan, S., Ananthasuresh, G. (eds) Mechanism and Machine Science. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-4477-4_43
Download citation
DOI: https://doi.org/10.1007/978-981-15-4477-4_43
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-4476-7
Online ISBN: 978-981-15-4477-4
eBook Packages: EngineeringEngineering (R0)