Strength and Stiffness Analysis for a Flexible Gripper with Parallel Pinching and Compliant Grasping Capabilities

Journal of Institute of Control, Robotics and Systems (2016) 22(10):817-825

http://dx.doi.org/10.5302/J.ICROS.2016.16.0150 ISSN:1976-5622 eISSN:2233-4335

朢汗笛 砒滆歆 洛愆穢 滗匶儆 儆垫穢 氦櫶穢 勾庲碂汞 儛壊 愕 儛昷 把昣

Strength and Stiffness Analysis for a Flexible Gripper with Parallel Pinching and Compliant Grasping Capabilities

決 塛 毖, 洊 笛 昣, 洛 殯 渆, 卆 殯 沲

^*

(Deok Won Lee ¹ , Hyeong Seok Jeon ¹ , Young Jun Jeong ¹ , and Yong Jae Kim ^1,* )

1

Dept. of Electronics Engineering, Korea University of Technology and Education

Abstract: In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

Keywords: flexible gripper, multi-fingered hand, compliant grasping, parallel pinching, flexible structure

I. 昢嵦

䡚㨂₢㰖 ⁎Ⰲ䗒㠦 ╖䞲 㡆ῂ✺㦖 ㌆㠛㣿 ⪲⽝㦮 ⁎Ⰲ䗒

⋮ 䦊Ⲏ⏎㧊✲㦮 ⁎Ⰲ䗒, 㧎㼊 ⳾⹿䡫 ⁎Ⰲ䗒(biomimetic gripper), 㣎Ἶỿ ㏦(exoskeleton hand)❇ ┺㟧䞲 㩧⁒ ⹿㔳㦒

⪲ 㰚䟟♮㠊㢪┺. 㰖⁞₢㰖 㡆ῂ♲ ┺㟧䞲 ⁎Ⰲ䗒✺㦚 ⚦ Ṗ㰖⪲ ⿚⮮䟊⽊Ⳋ, ㌆㠛㣿 ⪲⽝㦮 ⁎Ⰲ䗒㢖 㧎Ṛ䡫 ⪲⽝

⁎Ⰲ䗒⪲ ⋮③ 㑮 㧞┺. 㼁 ⻞㱎⪲ ㌆㠛㣿 ⪲⽝㦮 ⁎Ⰲ䗒⓪

㌂⧢㦚 ╖㔶䞮㡂 ⹮⽋㩗㧎 㠛ⶊ⯒ ╖㔶䞶 㑮 㧞☚⪳ 䔏㩫 㧧㠛㠦 䔏䢪♲ ₆⓻㦒⪲ Ṳ⹲♮ἶ 㧞┺. ⚦ ⻞㱎⪲ 㧎Ṛ䡫

⪲⽝ ⁎Ⰲ䗒⓪ ㌂⧢㦮 ㏦㧊 Ṗ㰚 㣎䡫㩗 䡫䌲㢖 㧦㥶☚⯒

₆Ἒ㩗 㣪㏢⪲ ῂ䡚䞮㡂 ㌂⧢ ㏦㦮 㧒⿖ ₆⓻㦚 㥶㌂䞮Ợ ῂ䡚䞶 㑮 㧞☚⪳ 㡆ῂ ⹥ Ṳ⹲♮ἶ 㧞┺. 㾲⁒ 㧎Ṛ䡫 ⪲

⽝ ⁎Ⰲ䗒⓪ 䟊⿖䞯㩗㦒⪲ ㌂⧢㦮 ㏦ ⁒㥷㧊⋮ 㧎╖, ㅞ ❇ 㠦 ╖䞲 㩫䢫䞲 ⿚㍳ 䤚 㧎㼊㦮 ₆⓻㦚 ⳾㌂䞮⓪ ㌳㼊 ⳾

⹿䡫 ⁎Ⰲ䗒㦮 ⹿䟻㦒⪲ 㡆ῂ ⹥ Ṳ⹲♮₆☚ 䞮ἶ 㧞┺. 㧊

⏒ⶎ㠦㍲⓪ 㩫⹖䞲 䘟䟟 㰧₆ ⹥ 㑲㦧䡫 䕢㰖Ṗ Ṗ⓻䞮㡂

㌆㠛㣿 ⪲⽝㦮 ⁎Ⰲ䗒⋮ 㧎Ṛ䡫 ⪲⽝㦮 ⁎Ⰲ䗒⪲☚ ㌂㣿 Ṗ⓻䞮Ⳇ 㧎Ὃ 㦮㑮⪲☚ ⹲㩚㧊 Ṗ⓻䞲 ⁎Ⰲ䗒 ῂ㫆⯒ ㏢ Ṳ䞲┺.

Ⲓ㩖 ㌆㠛㣿 ⁎Ⰲ䗒㦮 ἓ㤆, 㩫䡫䢪♲ ⶒ㼊⯒ 㰧₆ 㥚䟊㍲

⁎Ⰲ䗒㦮 ⊳㧊 ㍲⪲ 䘟䟟㦚 㥶㰖䞮⓪ ộ㧊 ╖⿖⿚㧊┺[1-4].

䘟䟟 㰧₆⯒ ῂ䡚䞮₆ 㥚䟊 ┺㟧䞲 ῂ☯ ⹿㔳㧊 Ṳ⹲♮㠊㢪

┺. ⧯(rack) ± 䞒┞㠎(pinion)㦚 䐋䟊 䘟䟟䞮Ợ ῂ☯♮⓪ ⹿㔳 [1]ὒ ball screw㠦 ⁎Ⰲ䗒㦮 䞮┾⿖⯒ 㡆ἆ䞮㡂 ῂ☯䞮⓪ ⹿ 㔳[2], 4-bar linkage ῂ㫆⯒ 䐋䞲 ῂ☯⹿㔳 ❇㧊 㧞┺[4]. 㥚㦮

⁎Ⰲ䗒✺㦖 㩫㥷Ⳋ㼊⋮ 㰗㥷Ⳋ㼊 ❇ὒ ṯ㧊 Ⱎ㭒⽊⓪ Ⳋ㧊 䘟䟟䞲 ⶒ㼊⯒ 㩫⹖䞮Ợ 㰧㦚 㑮 㧞┺. ⡦䞲 ⹎Ⰲ 㩫㦮♲ 㧧 㠛 ⶒ㼊㦮 䡫㌗㠦 ⰴ㿪㠊 㩧㽟Ⳋ 䡫㌗㦚 ⼖ἓ䞮Ⳋ ㌒ṗ䡫 ⡦

⓪ 㤦䡫㦮 ⶒ㼊☚ 㰧㦚 㑮 㧞┺. 䞮㰖Ⱒ ⹎Ⰲ 㩫㦮♮㠊 㧞㰖 㞠㦖 ⶒ㼊⯒ 㞞㩫㩗㦒⪲ 䘟䟟䞮Ợ 㰧₆㠦⓪ Ⱔ㦖 㩲㟓 㫆Ị 㧊 㫊㨂䞮Ⳇ 䘟䟟 㰧₆Ṗ Ṗ⓻䞮┺ἶ 䞮▪⧒☚ 㩲㠊㦮 䁷Ⳋ 㠦㍲ Ⱔ㦖 ⿖䞮Ṗ ỎⰂỢ ♲┺.

㌆㠛㣿 ⪲⽝ ⁎Ⰲ䗒㦮 䘟䟟 㰧₆㦮 ┾㩦㦚 ⽊㢚䞮Ⳇ ┺㟧 䞲 䡫䌲㦮 ⶒ㼊⯒ 㞞㩫㩗㦒⪲ 䕢㰖䞶 㑮 㧞⓪ SARAH hand [5], SDM gripper [6], Barrett hand [7], FESTO¶V)LQ*ULSSHU)LQJHU [8]㢖 ṯ㦖 ┺㟧䞲 ⁎Ⰲ䗒✺㧊 Ṳ⹲♮㠊 㢪┺[9,10]. SARAH hand ⓪ 4㩞 Ⱇ䋂 ῂ㫆⯒ ㌂㣿䞮Ⳇ 3㧦㥶☚⯒ Ṗ㰚┺. ῂ☯

Ⱇ䋂㢖 ⳾䎆㦮 ἆ䞿㦒⪲ ῂ☯♲┺. SDM gripper⓪ ὖ㩞㠦 ἓ

☚Ṗ ⏨㦖 䙊ⰂⲎ⯒, 㩧㽟Ⳋ㠦⓪ ἓ☚Ṗ ⌄㦖 䙊ⰂⲎ⯒ ㌂㣿 䞮㡖ἶ Spectra fishing lineὒ ⳾䎆㦮 ἆ䞿㦒⪲ ῂ☯♲┺.

SARAH hand, SDM gripper❇㦮 Ὃ䐋㩗㧎 䔏㰫㦖 under-actuated system 㧊⧒⓪ 㩦㧊┺. ┺㔲 Ⱖ䟊 ὖ㩞㦮 㧦㥶☚⽊┺ ⳾䎆㦮 㑮Ṗ 㩗₆ ➢ⶎ㠦 㡂㥶 ὖ㩞✺㦖 ⁎Ⰲ䗒Ṗ ⶒ㼊㠦 㩧㽟䟞㦚

➢ ⶒ㼊㠦 㑲㦧䞮⓪ ⹿䟻㦒⪲ ⶒ㼊⯒ Ṧ㕎Ợ ♲┺. Barrett hand㦮 ἓ㤆 ㏦Ṗ⧓㦮 2Ṳ ὖ㩞㧊 㢖㧊㠊⪲ ㍲⪲ 㡆ἆ♮㠊 㧞㠊㍲ under-actuated system㦖 㞚┞㰖Ⱒ ㏦Ṗ⧓ ╏ 䞲 Ṳ㦮

⳾䎆⪲ ⚦ Ṳ㦮 ὖ㩞㦚 ῂ☯䞮Ợ 䞲 ┾㑲䢪♲ ῂ㫆㧊┺.

FESTO ㌂㦮 FinGripper Finger⓪ 㥶㡆䞲 ㏢㨂⯒ 㩗㣿䞲 ☛䔏䞲 ῂ㫆⯒ 㺚䌳䞮㡖┺. 㧊 ῂ㫆⓪ ㌒ṗ䡫 ῂ㫆㢖 ⳝ Ṳ㦮 ribs⪲

ῂ㎇♮㠊 㧞┺. ➆⧒㍲ ⶒ㼊㢖 㩧㽟䞮⓪ 䧮㠦 ➆⧒ ῂ㫆Ṗ ⶒ㼊㦮 㣎䡫㠦 ⰴ㿪㠊 ⼖䡫♮㠊 㞞㩫㩗㦒⪲ 䕢㰖䞶 㑮 㧞┺.

Copyright¯ ICROS 2016

* Corresponding Author

Manuscript received August 3, 2016 / revised September 5, 2016 / accepted September 5, 2016

㧊▫㤦, 㩚䡫㍳, 㩫㣿㭖, ₖ㣿㨂: 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ 㩚㧦Ὃ䞯ὒ ([email protected]/[email protected]/wjddydwns7@koreatech.

ac.kr/[email protected])

ଖ ⽎ 㡆ῂ⓪ ⹎⧮⿖ ㌳㼊⳾㌂ ⹪㧊㡺┟㞪 ὒ㩲㦮 㰖㤦㠦 㦮䞮㡂 㡆

ῂ♮㠞㦢.

㢨 ⒉ 㠄, 㤸 䝉 ㉑, 㥉 㟝 㨴, ὴ 㟝 㣠 818

㧊㢖 ṯ㦖 ㌆㠛㣿 ⁎Ⰲ䗒㦮 ┾㩦㦚 ⽊㢚䞲 ⁎Ⰲ䗒✺㦖 ┺㟧 䞲 ⶒ㼊⯒ 䕢㰖䞮₆㠦⓪ 㩗䞿䞮㰖Ⱒ, 䘟䟟䞲 㩧㽟Ⳋ㦚 㥶㰖 䞮㰖 ⴑ䞮⸖⪲ 㩫⹖䞲 䘟䟟 㰧₆㠦 㧞㠊㍲⓪ ⽊䘎㩗㧎 ㌆㠛 㣿 ⁎Ⰲ䗒⽊┺ ⿞㞞㩫䞮┺. ⡦䞲 㩧㽟 㡗㡃㧊 ┾┾䞮㰖 ⴑ䞮 ἶ, ὖ㩞 ⿖⿚㧊 㥶㡆䞮₆ ➢ⶎ㠦 ⁎Ⰲ䗒㦮 ⊳㩦㦒⪲ Ṟ㑮⪳

ṫ㎇㧊 ⌄㞚㰖Ợ ♲┺.

⏒ⶎ㠦㍲⓪ 㞴㍲ ゚ᾦ ㍺ⳛ㦚 䐋䟊 㠎 䟞▮ ⚦ Ṗ㰖 㭧 㣪䞲 ₆⓻㦚 ἆ䞿䞲 ㌞⪲㤊 ⁎Ⰲ䗒⯒ ㏢Ṳ䞲┺. 㩲㞞䞮⓪

⁎Ⰲ䗒㦮 㩚㼊 ❪㧦㧎ὒ ⁎Ⰲ䗒 ❪㧦㧎㦖 ⁎Ⱂ 1ὒ ṯ┺.

㌞⪲㤊 ⁎Ⰲ䗒⓪ ⁎Ⱂ 2(a)㢖 ṯ㧊 䘟䟟 㰧₆Ṗ Ṗ⓻䞲 ⽊ 䘎㩗㧎 ㌆㠛㣿 ⪲⽝ ⁎Ⰲ䗒 ῂ㫆㢖 ⁎Ⱂ 2(b)㢖 ṯ㧊 㑲㦧 䡫 䕢㰖Ṗ Ṗ⓻䞲 FESTO¶V )LQ*ULSSHU )LQJHU㦮 ㌒ṗ䡫 ῂ㫆 Ṗ ἆ䞿♲ ☛䔏䞲 ῂ㫆⪲ ῂ㎇♲┺. ₆⽎㩗㧎 Ṳ⎦㦖 ⁎Ⱂ 2(c)㢖 ṯ┺. ⁎Ⰲ䗒 ⊳㧊 ㍲⪲ 䘟䟟㦚 㥶㰖䞮Ⳋ㍲ ⶒ㼊⯒

㰧㦚 㑮 㧞㦒Ⳇ, ⴎ䐋㠦 㩧㽟㧊 ⹲㌳䞮Ⳋ ⴎ䐋㦮 ῂ㫆Ṗ ⶒ 㼊㦮 㣎䡫㠦 㑲㦧䞮Ⳇ 䕢㰖 䞶 㑮 㧞┺. ⏒ⶎ㦮 ⌊㣿㦖 ┺ 㦢ὒ ṯ㧊 ῂ㎇♲┺. II㧻㠦㍲⓪ 䘟䟟 㰧₆㢖 㑲㦧䡫 䕢㰖㦮 㩚䢮㧊 Ṗ⓻䞲 㩚䢮 㰖㩦㠦 ╖䟊 ⿚㍳䞲┺. III㧻㠦㍲⓪ ṗ Ⱇ䋂Ṗ ⹱⓪ 䧮㦚 ⿚㍳䞮ἶ, 㧊⯒ ⹪䌫㦒⪲ ⁎Ⰲ䗒 ⊳㩦㦮 ṫ☚㢖 ṫ㎇, ⴎ䐋㦮 ṫ㎇㦚 ⿚㍳䞲┺. IV㧻㠦㍲⓪ 㔲⸂⩞

㧊㎮㦚 䐋䟊 㩫⨟㩗㦒⪲ ⿚㍳䞲 㧊⪶ ⳾◎ὒ 㔺㩲 ⳾◎㦚

゚ᾦ ⿚㍳䞮ἶ ἆὒ⯒ ㍺ⳛ䞲┺.

Air tube

Parallel

(a) (b) (c)

⁎Ⱂ 2. ⚦ ⿚⮮㦮 ⁎Ⰲ䗒 Ṳ⎦ὒ 㩲㞞♲ ⁎Ⰲ䗒 Ṳ⎦.

Fig. 2. The concept of the proposed gripper. (a) shows the motion of the traditional industrial gripper which is possible to only parallel pinching. (b) shows the motion of the flexible gripper which is possible to only compliant grasping. (c) shows the motion of the conceptional model which is possible to pinch and grasp.

II. 氦 氦櫶 櫶穢 穢 勾 勾庲 庲碂 碂 彚 彚珪 珪城 城溞 溞

㩲㞞♲ ⁎Ⰲ䗒⓪ ⁎Ⱂ 3(a)㢖 ṯ㧊 ㌂┺Ⰲ↊ ῂ㫆㢖 䘟䟟

㌂⼖䡫 ῂ㫆Ṗ ἆ䞿♲ 䡫䌲⪲ 㧊⬾㠊㪎 㧞┺. 㔺㍶㧊 䘟䟟

㌂⼖䡫 ῂ㫆㧊ἶ 䕢㍶㧊 ㌂┺Ⰲ↊ ῂ㫆㧊┺. ṗ ῂ㫆㦮 㡜 Ⳋ㦖 䥮㠊㰦㧊 Ṗ⓻䞲 㥶㡆䞲 Ⱇ䋂⪲ 㧊⬾㠊㰖Ⳇ, ⌊⿖㠦

⓪ Ⱇ䋂 ㌂㧊⯒ 㡆ἆ䞮⓪ rib✺㧊 㫊㨂䞲┺. ㌂┺Ⰲ↊ ῂ㫆

⓪ FinGripper Finger㦮 ㌒ṗ䡫 ῂ㫆㢖 㥶㌂䞲 ῂ㫆⪲ ⶒ㼊 㠦 㩧㽟䟞㦚 ➢ ⶒ㼊㦮 㣎䡫㠦 ⰴ㿪㠊 ⼖䡫♲┺. 䘟䟟㌂⼖

䡫 ῂ㫆⓪ ⁎Ⰲ䗒 ⊳㧊 䟃㌗ 㰖Ⳋὒ 㑮㰗㧊 ♮☚⪳ 㥶㰖㔲 䅲㭒⓪ ₆⓻㦚 䐋䟊 䘟䟟 㰧₆⯒ Ṗ⓻䞮Ợ 䞲┺. Rib⓪ ⚦ Ṗ㰖 ῂ㫆㦮 䡫㌗㦚 㥶㰖㔲䅲㭒⓪ ₆⓻㦚 䞲┺. ⁎Ⱂ 3(b)

⓪ 䘟䟟 㰧₆ ☯㧧㦚 ⽊㡂㭒Ⳇ, ⁎Ⱂ 3(c)㢖 (d)⓪ 㑲㦧䡫 䕢㰖 ☯㧧㦚 ⽊㡂㭖┺. ⁎Ⱂ 3(c)⓪ ㏦Ṗ⧓ 㡜Ⳋ㠦 㩧㽟㧊 㧒㠊⋲ 㑲Ṛ㦮 ☯㧧㧊ἶ 㧊䤚 㡆㏣㩗㦒⪲ ⁎Ⱂ 3(d)㢖 ṯ㧊 㑲㦧䡫 䕢㰖 ☯㧧㧊 㧒㠊⋲┺. 㑲㦧䡫 䕢㰖 ☯㧧 㔲㠦⓪ 䘟 䟟㌂⼖䡫 㞚⧮ 㡺⯎㴓 䞒⽝㧊 䝚⩞㧚㠦㍲ ⟾㠊㰖Ợ ♲┺.

㧊 䞒⽝㠦⓪ 㓺䝚Ⱇ㧊 㡆ἆ♮㠊 㧞㦒Ⳇ, 䕢㰖 ☯㧧 䤚 ⳾䎆 䏶䋂⯒ 䛖Ợ ♮Ⳋ 㓺䝚Ⱇ㦮 ⽋‖⩻㦒⪲ ⁎Ⱂ 3(a)㢖 ṯ㧊

㏦⊳㧊 㰖Ⳋ㠦 㑮㰗㧎 ㌗䌲⪲ ☢㞚㡺Ợ 䞮⓪ 㡃䞶㦚 䞲┺.

Ⱒ㟓 㓺䝚Ⱇ㧊 㫊㨂䞮㰖 㞠⓪┺Ⳋ ⽋‖⩻㧊 ⹲㌳䞮㰖 㞠㞚

⳾䎆 䏶䋂⯒ 䛖Ⳋ Ⱎ㰖Ⱏ ㌗䌲⯒ 㥶㰖䞮⓪ ┾㩦㧊 ⹲㌳䞶 㑮 㧞┺.

㩲㞞♲ ⁎Ⰲ䗒⓪ 䘟䟟 㰧₆㢖 㑲㦧䡫 䕢㰖Ṗ ⶒ㼊㦮 㩧㽟 㰖㩦㠦 ➆⧒ 㧦㡆㓺⩓Ợ ἆ㩫 ♲┺. ➆⧒㍲ ☯㧧㧊 㩚䢮♮⓪ 㰖㩦㧊 ⹲㌳䞮⓪◆ 㧊 㰖㩦㦚 㩚䢮 㰖㩦㧊⧒ 䞮Ⳇ, 㧒⿖

⁎Ⱂ 1. 㩲㞞♲ ⁎Ⰲ䗒 ❪㧦㧎.

Fig. 1. The proposed gripper design.

(a) (b)

(c) (d)

Grasping Region Pinching

Region Contact Point

Equilibrium point

⁎Ⱂ 3. ⁎Ⰲ䗒 ῂ㫆㢖 ☯㧧.

Fig. 3. (a) shows combined two structure of the gripper. The blue line is parallelogram. The red line is trapezoid. The others show the motion of the proposed gripper according to contact point and motor torque. (b) shows the parallel pinching motion and introduce the switching point. (c) and (d) show the compliant grasping motion.

Deok Won Lee, Hyeong Seok Jeon, Young Jun Jeong, and Yong Jae Kim

㍐㢅䝉 䑀㫴㝴 㥉ⴴ䚐 㬅ὤᴴ ᴴ⏙䚐 㡔㜤䚐 Ἤ⫠䒰㢌 ᵉ⓸ ⵃ ᵉ㉥ ⺸㉑ 819

under-actuated ⁎Ⰲ䗒✺㠦㍲☚ 㥶㌂䞲 Ṳ⎦㧊 㝆㧎 ⹪ 㧞┺

[11,12]. ⁎Ⱂ 3(b)㦚 ⽊Ⳋ ⶒ㼊Ṗ 㩧㽟䞮⓪ 㰖㩦㦚 ₆㩦㦒⪲

㥚 㡗㡃㧎㰖 㞚⧮ 㡗㡃 㧎㰖㠦 ➆⧒ ☯㧧㦚 ῂ⿚䞶 㑮 㧞┺.

㥚 㡗㡃㠦 㩧㽟䞮Ợ ♮Ⳋ 䘟䟟 㰧₆Ṗ Ṗ⓻䞮ἶ 㞚⧮ 㡗㡃㠦 㩧㽟䞮Ợ ♮Ⳋ ⁎Ⱂ 3(c), (d)㢖 ṯ㧊 㑲㦧䡫 䕢㰖Ṗ Ṗ⓻䞮┺.

㩚䢮 㰖㩦㦖 䘟䟟㌂⼖䡫 ῂ㫆㦮 䞒⽝㧊 䝚⩞㧚㠦㍲ ⟾㠊 㰖⓪㰖 㡂⿖⯒ Ṗ㰖ἶ 㩫⨟㩗㦒⪲ ῂ䞶 㑮 㧞┺. 㧊⯒ 㥚䟊

㍲⓪ ṗ Ⱇ䋂㠦 Ṗ䟊㰖⓪ 䧮㦚 Ἒ㌆䞮㡂㟒 䞲┺. ⁎Ⱂ 4㠦㍲

㢖 ṯ㧊 ㌂┺Ⰲ↊ ῂ㫆 㟧㴓㦮 㥶㡆䞲 Ⱇ䋂✺㦚 ṗṗ link1, link2⧒ἶ 䞮ἶ, 䘟䟟㌂⼖䡫 ῂ㫆 㟧㴓㦮 㥶㡆䞲 Ⱇ䋂✺㦚 link1, link3 ⧒ἶ 㩫㦮䞮㧦. ┾, ㌂┺Ⰲ↊ ῂ㫆㢖 䘟䟟㌂⼖䡫 ῂ 㫆⓪ 䞲 ⼖㦚 Ὃ㥶䞮Ⳇ 䞮⋮㦮 Ⱇ䋂 link1㦒⪲ 㩫㦮♮㠞ἶ, 㞴㍲ 㠎 䞲 䞒⽝㦖 B 㰖㩦㠦 㥚䂮䞲┺. 㩚䢮 㰖㩦㦚 㥶☚䞮

₆ 㥚䟊 ⁎Ⱂ 4㢖 ṯ㧊 A㰖㩦㠦㍲ ₎㧊 l

a

Ⱒ䋒 ⟾㠊㰚 㥚䂮 㠦 䧮 FṖ Ṗ䟊㰞 ➢ ṗ Ⱇ䋂㠦 Ṗ䟊㰖⓪ 䧮ὒ ⳾Ⲯ䔎⯒ Ἒ

㌆䞲┺. A㰖㩦㦚 㭧㕂㦒⪲ 䧮ὒ ⳾Ⲯ䔎㦮 䞿㦖 㞚⧮㢖 ṯ┺.

3 _b 2 _t

sin

_a

M f l f l

T

F l

¦ ˜  ˜ ˜  ˜ (1)

2

cos

x F f

T

¦  ˜ (2)

1 3 2

sin

y f f f

T

¦   ˜ (3)

(1)~(3)㠦㍲ f f

1

,

2

, f

3

⓪ ṗ Ⱇ䋂 1, 2, 3㠦 Ṗ䟊㰖⓪ 㧎㧻⩻, 㞫 㿫⩻, 㞫㿫⩻㧊┺. l

_b

㢖 , l

_t T

⓪ ṗṗ 䘟䟟㌂⼖䡫ῂ㫆㦮 Ⱇ 䋂 Ṛ ỆⰂ, ㌂┺Ⰲ↊ ῂ㫆㠦㍲ ㏦⊳ ⿖⿚㦮 Ⱇ䋂 Ṛ ỆⰂ,

㌂┺Ⰲ↊ ῂ㫆㠦㍲ Ⱇ䋂 2㢖 䝚⩞㧚㧊 㧊⬾⓪ ṗ☚⯒ 㦮⹎

䞲┺. 㥚 㔳㦚 㧊㣿䞮㡂 ṗṗ㦮 䧮㠦 ╖䞲 㔳㦒⪲ ⋮䌖⌊Ⳋ

┺㦢ὒ ṯ┺.

1 ^a

1

^t

tan

b b

l l

f F

l l

T

§ § · ·

  ˜ ˜

¨ ¨ ¸ ¸

¨ © ¹ ¸

© ¹

(4)

2

cos

f F

T

⁽⁵⁾

3 a t

tan

b

l l

f F

l

§  ˜

T

·

¨ ¸ ˜

© ¹

(6)

(4)~(6) ⓪ 㧊䤚 ⊳㩦 ṫ☚ ⹥ ṫ㎇㦚 ⿚㍳䞶 ➢ ㌂㣿♲┺. (6) 㦚 ⽊Ⳋ f

3

Ṗ 0⽊┺ 㧧Ợ ♮Ⳋ 䧮㦮 ⹿䟻㧊 ⹪≢₆ ➢ⶎ㠦 Ⱇ䋂3⓪ 㞫㿫⩻㧊 㞚┞⧒ 㧎㧻⩻㦚 ⹱Ợ ♲┺. ⁎⩂⸖⪲ 㓺 䝚Ⱇ㦮 㡗䟻㦚 ⶊ㔲䞲┺Ⳋ 㧎㧻⩻㦚 ⹱⓪ 㑲Ṛ⿖䎆 䘟䟟㌂

⼖䡫 ῂ㫆㦮 B 㰖㩦㧊 䝚⩞㧚㠦㍲ ⟾㠊㰖ἶ, 䘟䟟 㰧₆Ṗ 㞚

┢ 㑲㦧䡫 䕢㰖 ☯㧧㦚 䞮Ợ ♲┺. ⁎Ⰲ䗒Ṗ 䘟䟟 㰧₆⯒ 㥶 㰖䞮⓪ ἓἚ 㫆Ị㦖 f

3

0 㧊ἶ 㧊➢ l

a

㠦 ╖䞲 㔳㦒⪲ 䛖 Ⳋ 㞚⧮㢖 ṯ┺.

a t

tan

l ˜ l

T

(7)

㯟, ⶒ㼊㢖㦮 㩧㽟㩦㧊 (7)㦮 㥚䂮⽊┺ ㏦⊳ 㴓㦒⪲ 䂮㤆㼦 㧞㦚 ἓ㤆 䘟䟟 㰧₆Ṗ 㧊⬾㠊㰖Ⳇ, ㏦⹪┻ 㴓㦒⪲ 䂮㤆䂶 ἓ㤆 㥶㡆䞲 䕢㰖⯒ 㑮䟟䞮Ợ ♲┺. ➆⧒㍲ 㧊 㰖㩦㦚 㩚䢮 㰖㩦㧊⧒ 䞮Ⳇ Ⱇ䋂 1ὒ Ⱇ䋂 2㦮 Ṗ㌗㦮 㡆㧻㍶㧊 ㍲⪲ Ⱒ

⋮⓪ 㰖㩦㦒⪲ ⽒ 㑮 㧞┺.

㓺䝚Ⱇ㦮 㧻⩻㦚 ἶ⩺䞲 㩚䢮 㰖㩦㦖 ┺㦢ὒ ṯ㧊 㥶☚䞶

㑮 㧞┺. ⁎Ⱂ 4⯒ ⽊Ⳋ 㓺䝚Ⱇ㦖 B 㰖㩦㠦 㡆ἆ♮㠊 㧞┺.

㞴㍲ ㍺ⳛ䞲 ⹪㢖 ṯ㧊 㓺䝚Ⱇ㦖 ⶊ⿖䞮 ㌗䌲㠦㍲ ㏦⊳㧊 㰖 Ⳋ㠦 㑮㰗㧊 ♮☚⪳ 㥶㰖㔲䋺⓪ 㡃䞶㦚 䞲┺. ➆⧒㍲ 㥶㡆䞲 䕢㰖⯒ 㥚䟊 B 㰖㩦㦮 䞒⽝㧊 䝚⩞㧚㠦㍲ ⟾㠊㰖⩺Ⳋ 㞚⧮

㢖 ṯ㧊 f

3

㧊 㧎㧻♮⓪ 䧮㧊 㓺䝚Ⱇ 䧮 f

s

⽊┺ 䄺㟒 䞲┺.

㯟 f

s

!  f

3

㦚 Ⱒ㫇䟊㟒 䞲┺. ➆⧒㍲ 㩚䢮 㰖㩦㦖 f

s

 f

3

㧒 ἓ㤆㧊⸖⪲ 㧊㠦 (6)㦮 㔳㦚 ╖㧛䞮Ⳋ 㩚䢮 㰖㩦㠦㍲ ┺ 㦢 㔳㦚 Ⱒ㫇䟊㟒 䞲┺.

3 a t

tan

s b

l l

f F f

l

T

§  ˜ ·

˜ 

¨ ¸

© ¹

(8)

➆⧒㍲ 㩚䢮 㰖㩦㠦 ╖䞮㡂 l

a

⯒ 㥶☚䞮Ⳋ 㞚⧮㢖 ṯ┺.

tan

^{s b}

a t

f l l l

T

F ^˜

˜  (9)

(7)ὒ (9)⯒ ゚ᾦ䞮Ⳋ 㓺䝚Ⱇ㠦 㦮䞲 䟃㧊 (9)㠦⓪ 㿪Ṗ♮㠊 㧞┺. Ⱒ㟓 Ṗ䟊㰚 䧮㧊 䋂Ợ ♮Ⳋ 㩚䢮 㰖㩦㦖 (7)㦮 ἆὒ㢖 㥶㌂䟊㰚┺. ⁎Ⰲἶ 㓺䝚Ⱇ㦮 䧮㧊 䋂Ợ ♮Ⳋ 㩚䢮 㰖㩦㦖 (7)㦮 ἆὒ⽊┺ 㧧㞚㰖⸖⪲ 䘟䟟 㰧₆ 㡗㡃㧊 䄺㰖⓪ ộ㦚 䢫㧎䞶 㑮 㧞┺. ➆⧒㍲ ㍺Ἒ 㩚㠦 㰧₆ ⡦⓪ 䕢㰖䞶 ㌗䢿㦚

⿚㍳䞮㡂 㩗䞿䞲 㩚䢮 㰖㩦㦚 ἆ㩫䞮ἶ (9)⯒ 䐋䟊 ㍺Ἒ ⼖ 㑮⯒ 㫆㩫䞮Ⳋ 㩗䞿䞲 㩚䢮 㰖㩦㦚 Ṭ⓪ ⁎Ⰲ䗒⯒ 㩲㧧䞶 㑮 㧞┺.

III. 勾庲碂 儛壊 愕 儛昷 把昣

㩲㞞䞲 ⁎Ⰲ䗒⓪ 㥶㡆䞲 㨂⬢㢖 ῂ㫆⯒ 㩗㣿䞮㡂 㩫⹖㎇

ὒ 㥶㡆㎇㦚 䢫⽊䞶 㑮 㧞㠞┺. 㧊⩂䞲 㥶㡆䞲 㨂⬢㢖 ῂ㫆

⓪ ṫ☚㢖 ṫ㎇㠦☚ 㡗䟻㦚 ⹎䂮⸖⪲, ⁎Ⰲ䗒Ṗ ⶒ㼊⯒ 䕢㰖 䞶 ➢㦮 ṫ☚ ⹥ ṫ㎇㦚 㩫⨟㩗㦒⪲ ⿚㍳䞶 䞚㣪Ṗ 㧞┺.

1. 勾庲碂 啣洖櫖 儆穦 朞 沎垚 牢堆 粞

㧊 㩞㠦㍲⓪ ⁎Ⰲ䗒Ṗ ⶒ㼊⯒ 䘟䟟 㰧₆ 䞶 ➢ ⁎Ⰲ䗒 ⊳ 㠦 Ṗ䞶 㑮 㧞⓪ 㾲╖ 䧮㦚 ⿚㍳䞲┺. ⿚㍳䞮₆㠦 㞴㍲ ⁎Ⱂ 4 㢖 ṯ㧊 Ⱇ䋂 1ὒ ⁎Ⰲ䗒 ⊳㧊 ☯㧒 ㍶㌗㠦 㥚䂮䞲┺ἶ Ṗ 㩫䞲┺. ⁎Ⰲ䗒㦮 ⊳㩦㠦 ⶒ㼊Ṗ 㩧㽟䞮Ⳋ 2.1㩞㠦㍲ ㍺ⳛ䞲 ộὒ ṯ㧊 Ⱇ䋂 1㠦⓪ 㧎㧻⩻㧊 Ṗ䟊㰖ἶ Ⱇ䋂 2㢖 3㦖 㞫㿫

⩻㧊 Ṗ䟊㰚┺.

Ⲓ㩖, Ⱇ䋂 1㦮 㨂⬢㦮 ㎇㰞⪲ 㧎䟊 ἂ❲ 㑮 㧞⓪ 㾲╖ 㦧

⩻㦚

V1max

⪲ 㩫㦮䞮ἶ, 㧊㠦 㦮䞲 Ⱇ䋂 1㠦 Ṗ䞶 㑮 㧞⓪ 㾲╖ 㧎㧻⩻㦖 㞚⧮㢖 ṯ┺.

1

ܨ

݂ _ଵ

݂ _ଶ

݂ ଷ ݂ ௦

݈ ௔

݈ _௕

݈ _ଶ

݈ _ଵ

݈ _௧

ߠ

⁎Ⱂ 4. ⁎Ⰲ䗒㦮 㧦㥶 ⶒ㼊☚.

Fig. 4. Free body diagram of gripper.

Strength and Stiffness Analysis for a Flexible Gripper with Parallel Pinching and Compliant Grasping Capabilities

㢨 ⒉ 㠄, 㤸 䝉 ㉑, 㥉 㟝 㨴, ὴ 㟝 㣠 820

1max 1max 1 1

f

V

˜ B T ˜ (10)

㡂₆㍲ B

1

㢖 T

1

㦖 ṗṗ Ⱇ䋂 1 ┾Ⳋ㩗㦮 Ṗ⪲ ₎㧊㢖 ⚦℮

㧊┺.

┺㦢㦒⪲ Ⱇ䋂 2㢖 3㦮 ἓ㤆, Ⱇ䋂 1ὒ ╂Ⰲ 㞫㿫⩻㦚 ⹱ Ợ ♮⸖⪲ 㫢Ὴ㠦 㦮䞲 䕢㏦㦚 ἶ⩺䟊㟒 䞲┺. 䞮㰖Ⱒ Ⱇ䋂

㌂㧊㦮 rib㠦 㦮䟊 Ⱇ䋂 㩚㼊 ₎㧊㠦 ╖䞲 㫢Ὴ䡚㌗㦖 㩲䞲

♲┺. ➆⧒㍲ 㩚㼊 ₎㧊Ṗ 㞚┢ rib㌂㧊㠦 ⹲㌳䞮⓪ 㫢Ὴ䡚㌗

㦚 ἶ⩺䟊㟒 䞲┺. 㧊㠦 ὖ䞲 㔳㦖 㞚⧮㢖 ṯ┺.

2 3 2

2

( 1)

buckling

12

E B T n

f l

S

˜ ˜ ˜ ˜ 

˜ (11)

㡂₆㍲, 㧒⹮㩗㧎 㫢Ὴṫ☚ 㑮㔳㠦 2㹾 ┾Ⳋ ⳾Ⲯ䔎

3

/12

B T ˜ ⯒ ╖㧛䞮㡂 ☚㿲䞮㡖┺. ṗ 㧎㧦 E n l , , 㦖 㡗⮶ὒ rib 㦮 Ṳ㑮, Ⱇ䋂㦮 ₎㧊┺. (10), (11) 㧊㣿䞮㡂 䘟䟟 㰧₆ ☯ 㧧㠦㍲ ⁎Ⰲ䗒 ⊳㩦㠦 Ṗ䞶 㑮 㧞⓪ 㾲╖ 䧮㦚 ☚㿲䞶 㑮 㧞

┺. (10)㦚 (4)㠦 ╖㧛䞮ἶ (㯟 f

1

f

1max

), (11)㦚 (5)㢖 (6)㠦

╖㧛䞮㡂 (㯟, f

2

f

2_buckling

, f

₃

f

_3buckling

) ṗ Ⱇ䋂㠦 㦮䟊 ἂ

❲ 㑮 㧞⓪ ⁎Ⰲ䗒 ⊳㩦㦮 䧮㦚 ☚㿲䞮Ⳋ ┺㦢ὒ ṯ┺.

 

 

1 1 1

1max

tan

b

a b t

B T l

F l l l

V

T

˜ ˜ ˜

  ˜ (12)

2 3 2

2 2

2 max 2

( 1) cos 12

E B T n

F l

S

˜ ˜ ˜ ˜  ˜

T

˜ (13)

 

2 3 2

3 3

3 max 2

( 1)

12 tan

b

a t

E B T n l

F l l l

S

T

˜ ˜ ˜ ˜  ˜

˜ ˜  ˜ (14)

㡂₆㍲, F

1max

, F

2 max

, F

3 max

⓪ ṗṗ Ⱇ䋂 1, Ⱇ䋂 2, Ⱇ䋂3Ṗ 䕢

㏦㧊⋮ 㫢Ὴ♮㰖 㞠ἶ ἂ❲ 㑮 㧞⓪ ㏦⊳ 䧮㦚 㦮⹎䞮Ⳇ, ㍲

⪲ ┺⯎ Ṩ㦚 Ṗ㰚┺. B

2

, T

₂

㢖 B

3

, T

₃

⓪ (11)㦚 Ⱇ䋂 2㢖 3 㠦 㩗㣿䞮₆ 㥚䟊 ☚㧛䞲 ṗ Ⱇ䋂 ┾Ⳋ㦮 Ṗ⪲ ₎㧊㢖 ⚦℮

㧊┺. Ἒ㌆ Ṩ 㭧㠦㍲ Ṗ㧻 㦮⹎ 㧞⓪ Ṩ㦖 ㎎ Ⱇ䋂 㭧 㠊ⓦ

Ⱇ䋂⧒☚ 䕢ᾊ♮Ệ⋮ 㫢Ὴ♮㰖 㞠⓪ Ṗ㧻 㧧㦖 Ṩ㧊┺. ➆⧒

㍲ ⁎Ⰲ䗒Ṗ 䘟䟟 㰧₆ 㔲 㾲╖ Ṗ䞶 㑮 㧞⓪ ⁎Ⰲ䗒 ⊳㩦㦮 䧮㦖 (12)~(14)㦮 ἆὒṨ 㭧㠦㍲ 㧧㦖 Ṩὒ ṯ㦒⸖⪲ 㩫Ⰲ䞮 Ⳋ 㞚⧮㢖 ṯ┺.

 

max

min

1max

,

2 max

,

3max

F F F F (15)

㧊⯒ 䐋䟊 ⁎Ⰲ䗒 ⊳㠦 Ṗ䞶 㑮 㧞⓪ 㾲╖ 䧮㦚 Ἒ㌆䞶 㑮 㧞┺. 㧊 㧊⪶㔳㦖 4.2㩞㠦㍲ 㔺㩲 㔺䠮㠦 㦮䞲 ἆὒṨὒ ゚ ᾦ䞮㡂 Ỗ㯳♶ ộ㧊┺.

2. 勾庲碂 啣洖汞 儛昷 把昣

㞴㍲ ⿚㍳䞲 ⌊㣿㦖 ⁎Ⰲ䗒㦮 ṫ☚⯒ ⏨㧊₆ 㥚䟊 㩗㩞䞲 㨂⬢㢖 ㍺Ἒ⼖㑮⯒ ἆ㩫䞮⓪◆ 㥶㣿䞮Ợ ㌂㣿♶ 㑮 㧞┺. 㧊 㢖 ⼚Ṳ⪲, 䕢㰖㔲㦮 㩫䢫☚⯒ 㥚䟊 㣎⩻㠦 㦮䟊 㠒Ⱎ⋮ ⼖ 䡫♮⓪㰖㠦 ╖䞲 ṫ㎇ ⿚㍳☚ 䞚㣪䞮┺. ⽎ 㩞㠦㍲⓪ ṗ Ⱇ 䋂㦮 㞫㿫⩻ ⡦⓪ 㧎㧻⩻㠦 ╖䞲 ⼖䡫⨟㦒⪲⿖䎆 ⁎Ⰲ䗒 ⊳ 㩦㦮 ṫ㎇㦚 㥶☚䞲┺.

⁎Ⰲ䗒 ⊳㩦㠦 䧮㧊 Ṗ䟊㰖Ⳋ, ㏦⊳㧊 䧮㠦 ➆⧒ ⼧㰚㤊☯

㦚 䞮Ệ⋮ 䘟䟟 㧦㎎⯒ 㥶㰖䞮㰖 ⴑ䞮ἶ 䣢㩚䞮Ợ ♲┺. 㧊 㤖㰗㧚㦖 ṗ Ⱇ䋂㦮 㞫㿫⩻ ⡦⓪ 㧎㧻⩻㠦 ➆⯎ ₎㧊 ⼖䢪㠦

㦮䟊 ⹲㌳䞲┺. ➆⧒㍲ ṗ Ⱇ䋂㦮 ₎㧊 ⼖䢪㠦 ➆⯎ ⁎Ⰲ䗒

⊳㩦 㥚䂮 ⼖䢪⯒ Ἒ㌆䞮ἶ ⳾⚦ 䞿䞮Ⳋ ㎎ Ⱇ䋂㠦 㦮䞲 ⊳ 㩦 㥚䂮 ⼖䢪⯒ ☚㿲䞶 㑮 㧞┺. ṗ Ⱇ䋂㠦 䧮 f f

1

,

2

, f

3

㧊 ṗ ṗ Ṗ䟊㪢㦚 ➢ Ⱇ䋂㦮 ⼖䡫⨟㦚 Ἒ㌆䞮Ⳋ 㞚⧮㢖 ṯ┺.

1

1 1

1

l f

O

E A ˜

˜

₂ ² ₂

2

l f

O

E A ˜

˜

₃ ³ ₃

3

l f

O

E A ˜

˜ (16) 㡂₆㍲ l l l

1

, ,

2 3

⓪ ṗ Ⱇ䋂✺㦮 ₎㧊㧊Ⳇ A A A

1

,

2

,

3

⓪ ṗ Ⱇ䋂 㦮 ┾Ⳋ㩗㦚 㦮⹎䞲┺. ⳾✶ Ⱇ䋂Ṗ ṯ㦖 㨂㰞⪲ 㩲㧧♮㠞┺

ἶ Ṗ㩫䞮㡂 㡗⮶ E⓪ ☯㧒䞮Ợ 㩗㣿䞮㡖┺. Ṗ䟊㰚 䧮㠦 ➆

⯎ ṗ Ⱇ䋂㦮 ₎㧊 ⼖䢪㢖 ⊳㩦㦮 㥚䂮 ⼖䢪⓪ ⁎Ⱂ 5㠦㍲

⽊㡂㰚┺. ⊳㩦㦮 㥚䂮⯒ Ἒ㌆䞮₆ 㥚䟊 㑲Ṛ䣢㩚㭧㕂 Ṳ⎦

㦚 ☚㧛䞮㡖┺. ⁎Ⱂ 5㠦㍲ A 㰖㩦㧊 㑲Ṛ䣢㩚㭧㕂㧊┺. 㑲 Ṛ 䣢㩚 㭧㕂㦖 ⹎㏢ 䣢㩚 㔲 ₎㧊Ṗ ἶ㩫♲ Ⱇ䋂 ⚦ṲṖ ㍲

⪲ Ⱒ⋮⓪ 㰖㩦㦚 Ⱖ䞲┺[13]. ⁎Ⱂ 5(b)⯒ 㡞⪲ ✺㠊 㑲Ṛ 䣢 㩚 㭧㕂, 䣢㩚ṗ ⁎Ⰲἶ ⼖㥚⨟㦚 Ἒ㌆䞮⓪ ⹿⻫㦚 ㍺ⳛ䞲┺.

⁎Ⱂ 5(b)⯒ ⽊Ⳋ Ⱇ䋂 2㢖 Ⱇ䋂 3㦖 ἶ㩫♲ ₎㧊⯒ Ṗ㰖Ⳇ Ⱇ䋂 1㦖 㧎㧻⩻㠦 㦮䟊 ₎㧊Ṗ ⼖䞲┺. ➆⧒㍲ Ⱇ䋂 2㢖 Ⱇ 䋂 3㧊 Ⱒ⋮⓪ A㰖㩦㠦 㑲Ṛ 䣢㩚 㭧㕂㧊 㥚䂮䞮Ợ ♲┺. Ⲓ

⁎Ⱂ 5. ㏦⊳ ṫ㎇ ⿚㍳㦚 㥚䞲 ⁎Ⰲ䗒㦮 ⼖䡫 ☯㧧.

Fig. 5. The fingertip motion of the proposed gripper. (a) shows the

design parameter. When the force is applied to the fingertip,

(b), (c), (d) show the translation and rotate motion because of

each link is stretched by the tensile force or is compressed by

the compress force.

㍐㢅䝉 䑀㫴㝴 㥉ⴴ䚐 㬅ὤᴴ ᴴ⏙䚐 㡔㜤䚐 Ἤ⫠䒰㢌 ᵉ⓸ ⵃ ᵉ㉥ ⺸㉑ 821

㩖 䣢㩚ṗ (

D₁

) 㦚 䢎㦮 ₎㧊 Ἒ㌆㔳㦚 㧊㣿䞮㡂 ῂ䞲┺. ┺㦢 㦒⪲ x 㿫 ⼖㥚⨟㦖 ⹎Ⰲ ῂ䞲 䣢㩚ṗ (

D1

) 㢖 䢎㦮 ₎㧊 Ἒ

㌆㔳㦚 䐋䞮㡂 Ἒ㌆䞲┺. y 㿫 ⼖㥚⨟㦖 Ⱇ䋂 1㦮 ⼖㥚⨟ὒ ṯ┺. 㥚㦮 ⹿㔳㦚 䐋䞮㡂 Ⱇ䋂 2㢖 Ⱇ䋂 3㦮 ₎㧊 ⼖䢪㠦

➆⯎ ㏦⊳㦮 㥚䂮 ⼖䢪㢖 䣢㩚 ⼖䢪☚ Ἒ㌆䞶 㑮 㧞┺. Ⱇ䋂 㦮 ₎㧊 ⼖䢪㠦 ➆⯎ x  y 䘟Ⳋ ㌗㦮 ⹎㏢ ⼖㥚⯒ Ἒ㌆䞮 Ⳋ 㞚⧮㢖 ṯ┺.

_

1 1

1 1

a b t

tan

b

l l

x l

y

T O

O

­ §  ˜ ·

' ˜

° ¨ ¸

® © ¹

° '

¯

(17)

2 1

2

cos 0 x y

O T

' ˜

­ ®

¯ '

(18)

3 3

3

tan

0

a t

b

l l

x l

y

T O

­ §  ˜ ·

' ˜

° ¨ ¸

® © ¹

° '

¯

(19)

㡂₆㍲, l

b t_

⓪ Ⱇ䋂 2㢖 Ⱇ䋂 3 ㌗┾㦮 䣢㩚┾ ㌂㧊 ₎㧊㧊

┺. (16)㠦 (4)~(6)㦚 ╖㧛䞮ἶ, 㧊⯒ (17)~(19)㠦 ╖㧛䞮㡂 Ἒ㌆

䞲 Ṩ㦒⪲ , x y 㿫 ṫ㎇㦚 Ἒ㌆䞮Ⳋ 㞚⧮㢖 ṯ┺.

 

 

1 2 3

2

1 2 3

2 2

1 2 3 _ 2 1 3

2

3 1 2

tan tan

x

b

a b t b

a t

K F

x x x

E A A A l

l A A l l l A A l

l A A l l

T T

'  '  '

˜ ˜ ˜ ˜

§ ˜ ˜ ˜  ˜  ˜ ˜ ˜ ·

¨ ¸

¨  ˜ ˜ ˜  ˜ ¸

© ¹

(20)

 

1

1 2 3 1 _

tan

b y

a b t

F E A l

K y y y l l l

T

˜ ˜

'  '  ' ˜  ˜ (21)

z 㿫 ⹿䟻㦒⪲㦮 䣢㩚㠦 ➆⯎ ṫ㎇㦚 Ἒ㌆䞮₆ 㥚䟊㍲ ⁎ Ⱂ 5(b), (d)㦮 䣢㩚ṗ

D D1

,

3

⯒ ▪䞲 Ṩ㦚 Ṗ䟊㰚 䧮㠦 ╖䞮㡂

⋮⑚Ⳋ 㓓Ợ 㥶☚䞶 㑮 㧞┺. ➆⧒㍲ (16)㠦 (4), (6)㦚 ╖㧛䞮ἶ, 㧊⯒ (17), (19)㠦 ╖㧛䞮㡂 Ἒ㌆䞲 䣢㩚 ṫ㎇㦖 㞚⧮㢖 ṯ┺.

   

2

1 3

1 3 3 _

tan

1

tan

b z

a b t a t

F E l A A

K

D D

A l l

T

A l l

T

˜ ˜ ˜

 ˜  ˜  ˜  ˜ (22)

㥚 㔳㦒⪲⿖䎆 Ṗ䟊㰚 䧮㠦 ➆⧒ ⁎Ⰲ䗒㦮 ⊳㩦㧊 㠒Ⱎ⋮

䣢㩚䟞⓪㰖 ㏦㓓Ợ Ἒ㌆䞶 㑮 㧞┺. 㩲㞞♲ ⁎Ⰲ䗒㦮 ㏦⊳ ṫ

㎇㦖 㨂⬢㦮 ⶒ㎇ὒ ㍺Ἒ ⼖㑮⯒ ╖㧛䞮㡂 Ἒ㌆䞶 㑮 㧞┺.

3. 朢汗笛 砒滆 柢 徾皻 儛昷 把昣

㧊 㩞㠦㍲⓪ 㩲㞞䞲 ⁎Ⰲ䗒Ṗ 㑲㦧䡫 䕢㰖 ☯㧧㦚 䞶 ➢ ⴎ䐋㦮 ṫ㎇㠦 ╖䟊 ⿚㍳䞲┺. 㑲㦧䡫 䕢㰖㦮 㫆Ị㦖 ⁎Ⰲ䗒

⊳Ⱎ❪Ṗ ⶒ㼊㠦 㩧㽟䞮ἶ ⴎ䐋㦮 㧚㦮㦮 㥚䂮㠦 ⶒ㼊㢖㦮 㩧㽟㧊 㧞㦚 ➢㧊┺. 㫆Ị㧊 㧊⬾㠊㰚 䤚 ⁎Ⰲ䗒㠦 ῂ☯ 䏶 䋂⯒ 㯳Ṗ㔲䋺Ⳋ ⶒ㼊㦮 㣎䡫㠦 ⰴ㿪㠊 Ⱇ䋂Ṗ ⼖䡫㦚 㧒㦒 䋺Ợ ♲┺. ῂ☯ 䏶䋂⓪ Ⱇ䋂 1㠦Ⱒ Ṗ䟊㰖㰖Ⱒ Ⱇ䋂 ㌂㧊㦮 ribṖ 䧮㦚 Ⱇ䋂 2㢖 3㠦 㩚╂䞲┺. ➆⧒㍲ ㎎ Ⱇ䋂Ṗ ⳾⚦

䥮㠊㰖Ợ ♲┺. 㧊⓪ ⁎Ⱂ 6㦮 㧦㥶 ⶒ㼊☚㠦㍲ 㼃㌟ 䕢㍶ὒ ṯ┺. ṗ Ⱇ䋂㦮 ⼖䡫㠦 ╖䟊 ⿚㍳䞮Ⳋ 㩚㼊 ṫ㎇㦚 㥶☚䞶 㑮 㧞┺. Ⱇ䋂 1ὒ 3㦮 ⼖䡫⨟㦖 y ' 㧊ἶ ⹮⹲⩻㦖 F F

₁

,

₃

㧊

┺. ⹮⹲⩻㦖 㟧┾ ┾㑲 㰖㰖 ⽊ ⳾◎ὒ 㰗㥷Ⳋ㼊㦮 2㹾 ┾ Ⳋ ⳾Ⲯ䔎 ( B T ˜

³

/12) ⯒ 㧊㣿䟊㍲ Ἒ㌆䞶 㑮 㧞┺. ⹮⹲⩻㦖 㞚⧮㢖 ṯ┺.

 

3

1 1 1

1 3

2 2 2

1

3 3 ,

4

E l B T

F y

b l b

˜ ˜ ˜ ˜

˜ '

  

3

3 3 3

3 3

2 2 2

3

3 3 4

E l B T

F y

b l b

˜ ˜ ˜ ˜

˜ '



(23)

Ⱇ䋂 2㠦 ╖䞲 ⹮⹲⩻ F

2

⓪ ┺㦢ὒ ṯ┺.

 

3

2 2 2

2 3 2

2 2 2

2

3 3 4

E l B T

F y

b l b

˜ ˜ ˜ ˜

˜ '



(24)

(24)㠦㍲ 㧎㧦 ' y

2

, F

2

⓪ Ṗ䟊㰚 䧮ὒ ṯ㦖 ⹿䟻㧎 y 㿫 ⹿ 䟻㦒⪲㦮 㧎㧦 yv ' F

2^'

㢖 㞚⧮㢖 ṯ㦖 ὖἚ⯒ Ṗ㰚┺.

2

sin

y y

T

' ' ˜ (25)

'

2 2

sin

F F ˜ T (26)

(24)㠦 (25), (26)⯒ ╖㧛䞮㡂 F

2^'

㦚 䚲䡚䞮Ⳋ 㞚⧮㢖 ṯ┺.

 

3

' 2

2 3

2 2 2

3 3 sin

4

E l B T

F y

b l b

˜ ˜ ˜ ˜

T

˜ ' ˜



(27)

(23) ὒ (27)㦒⪲⿖䎆 ⁎Ⰲ䗒 Ⱎ❪㦮 㩚㼊 ṫ㎇㦖 㞚⧮㢖 ṯ┺.

     

'

1 2 3

3

2

1 2 3

3 3 3

2 2 2 2 2 2 2 2 2

1 1 1 1 2 2 3 3 3

3 3 4

sin

body

F F F

K y

E B T

l l l

b l b b l b b l b

T

  '

˜ ˜ ˜

§ ·

¨ ˜ ¸

˜ ¨   ¸

¨    ¸

© ¹

(28)

(28)㦮 㧎㧦 b b b

1

,

2

,

3

㦖 ⶒ㼊㢖 ⁎Ⰲ䗒㦮 ⴎ䐋㧊 㩧㽟 䞲 㥚 䂮⿖䎆 Ⱇ䋂 1㦮 ㌗┾₢㰖 ₎㧊㧊┺. 㑲㦧䡫 䕢㰖 㔲 㩚㼊 Ⱇ䋂㦮 ṫ㎇㦖 Ⱇ䋂 ┾Ⳋ㦮 Ṗ⪲ ₎㧊㢖 ⚦℮Ṗ 㰽ἶ Ⱇ䋂㦮 㩚㼊 ₎㧊Ṗ ₎㑮⪳ ⌄㞚㰚┺. ➆⧒㍲ 㑲㦧䡫 䕢㰖㠦 㩗䞿䞮

┺. 䞮㰖Ⱒ ṫ☚Ṗ ⌄㞚㰖₆ ➢ⶎ㠦 㓓Ợ 䕢ᾊ♲┺. ➆⧒㍲

㩗㩞䞲 ㍺Ἒ ⼖㑮⯒ ㍶䌳䟊㟒 䞲┺.

ܨ _ͳ

ߠ

ܨ _͵ ܨ ʹ

⁎Ⱂ 6. ㏦Ṗ⧓ 㭧Ṛ㩦 ṫ㎇ ⿚㍳㦚 㥚䞲 㧦㥶 ⶒ㼊☚.

Fig. 6. Free body diagram for stiffness analysis.

㢨 ⒉ 㠄, 㤸 䝉 ㉑, 㥉 㟝 㨴, ὴ 㟝 㣠 822

IV. 柪 柪竞 竞

⽎ 㧻㠦㍲⓪ 㧊⪶㩗㦒⪲ ⿚㍳䞲 ἆὒ㢖 㔺㩲 ⳾◎㦚 㔺䠮 㦚 䐋䟊 㩫⨟㩗 ゚ᾦ䞲┺. ⁎Ⱂ 1ὒ ṯ㧊 3Ṳ㦮 ☯㧒䞲 ㏦Ṗ

⧓㦚 Ṗ㰚 gripper⯒ 3D Printer (Stratasys, uPrint SE Plus)⯒ 㧊㣿 䞮㡂 㩲㧧䞮㡖㦒Ⳇ ㏢㨂⓪ ABS⯒ ㌂㣿䞮㡖┺. ㌂㣿♲ ABS 㦮 䔏㎇㦖 㡗⮶㧊 2100MPa㧊ἶ 䟃⽋ ṫ☚⓪ 31MPa, 㡆㔶 㥾㦖 2% 㧊┺. Ⱇ䋂✺ὒ rib✺㦚 㡆ἆ䞮⓪ 䞒⽝㠦⓪ steel pin 㦚 ㌂㣿䞮㡖ἶ, ῂ☯ ⳾䎆⪲⓪ Robotis㌂㦮 DYNAMIXEL AX-18A⯒ ㌂㣿䞮㡖┺. 㔺䠮㠦 ㌂㣿♲ ⁎Ⰲ䗒㦮 ㍺Ἒ ◆㧊䎆

⓪ 䚲 1㠦㍲ ⽊㡂㰚┺. 㧊 ㍺Ἒ ⼖㑮✺㦖 ⁎Ⰲ䗒 ⊳㩦㠦 Ṗ 䟊㰖⓪ 䧮㧊 30N㧊㌗㧊 ♮☚⪳ 㥶☚♲ 㑮㔳ὒ 㔺䠮㦚 䐋䟊

☚㿲䞮㡖┺.

㩚⹮㩗㧎 䕢㰖 ㎇⓻㦚 䢫㧎䞮₆ 㥚䟊 ⁎Ⱂ 7㠦㍲㢖 ṯ㧊

┺㟧䞲 ⶒ㼊⯒ 䘟䟟䞮Ợ 㰧Ệ⋮ 㑲㦧䞮⓪ ⹿䟻㦒⪲ 䕢㰖䞮

⓪ 㔺䠮㦚 㰚䟟䞮㡖┺. 㼁⻞㱎 䟟㦮 ㌂㰚㦖 䘟䟟 㰧₆㦮 ㌗ 䢿㦚, ⚦⻞㱎 䟟㦮 ㌂㰚㦖 㑲㦧䡫 䕢㰖㦮 ㌗䢿㦚 ⋮䌖⌊Ⳇ

┺㟧䞲 ⶒ㼊⯒ 㩗㩞䧞 䕢㰖 䞶 㑮 㧞㦢㦚 㞢 㑮 㧞┺. ㎎⻞

㱎 䟟㦮 ㌂㰚㦖 㑲㦧䡫 䕢㰖㢖 䘟䟟 㰧₆㦮 㡆㏣☯㧧㧊┺.

1. 洊筞 滆洖 捊剖

㩲㧧䞲 ⁎Ⰲ䗒㦮 㩚䢮㰖㩦 ⿚㍳㦚 㥚䟊 ⁎Ⱂ 8(a)㢖 ṯ㧊 㔺䠮 ⳾◎㦚 㩲㧧䞮㡖┺. (9)㢖 䚲 1㦮 ㍺Ἒ ⼖㑮⯒ 㧊㣿䞮㡂 20N㦮 䧮㧊 Ṗ䟊㰞 ➢ 㩚䢮 㰖㩦㦚 Ἒ㌆䞮Ⳋ 32.92mm㧊┺.

㧊 㰖㩦㦚 ₆㩦㦒⪲ 㥚 㡗㡃㠦㍲⿖䎆 㞚⧮ 㡗㡃₢㰖 䧮㦚 Ṗ 䞮㡂 ⁎Ⰲ䗒 㤖㰗㧚㦚 䢫㧎䞲 ἆὒ 㔺䠮 ἆὒ⓪ ⁎Ⱂ 8(b)~(e)㢖 ṯ┺. 㩚䢮 㰖㩦㦚 䙂䞾䞲 㥚㦮 㡗㡃㠦 䧮㦚 Ṗ䞮 Ợ ♮Ⳋ ⁎Ⱂ 8(b), (c)㠦㍲ ⽒ 㑮 㧞❅㧊 ⁎Ⰲ䗒⓪ 䘟䟟 㰧₆

☯㧧㦚 ⽊㧎┺. Ἒ㌆♲ 㩚䢮 㰖㩦⽊┺ 㞚⧮ 㡗㡃㠦 䧮㦚 Ṗ 䞮Ợ ♮Ⳋ ⁎Ⱂ 8(d), (e)㠦㍲ ⽒ 㑮 㧞❅㧊 ⁎Ⰲ䗒⓪ 㑲㦧䡫 䕢㰖 ☯㧧㦚 ⽊㧎┺. 㔺䠮 ἆὒ⯒ 䐋䞮㡂 㧊⪶㩗㦒⪲ Ἒ㌆♲

㩚䢮 㰖㩦㧊 㔺㩲 㔺䠮㠦㍲☚ ㎇Ⱃ䞲┺⓪ ộ㦚 㞢 㑮 㧞┺.

⁎Ⱂ 8. 㔺䠮 䢮ἓὒ 㩚䢮 㰖㩦 㔺䠮.

Fig. 8. (a) shows the experimental model of the gripper. The others show the gripper motion depending on the l a . (b) and (c) show the contact point above the equilibrium point and the parallel pinching motion. (d) and (e) show the contact point below the equilibrium point and the compliant grasping motion.

䚲 1. 㔺䠮㣿 ⁎Ⰲ䗒 ㍺Ἒ ⼖㑮.

Table 1. The design parameter of the experimental model.

Parameter Value Parameter Value

l

1

85mm l

t

10mm

l

2

88.60mm l

b

20mm

l

3

85mm l

c

15mm

T

73.61° l

b t_

10mm

B

1

30mm n 4mm

B

2

20mm T

1

1mm

B

3

8mm T

2

1mm

f

s

1.08N T

3

1mm

⁎Ⱂ 7. 䘟䟟 㰧₆㢖 㑲㦧䡫 䕢㰖 㔺䠮.

Fig. 7. The figures show the parallel pinching and compliant grasping result of the proposed gripper.

Deok Won Lee, Hyeong Seok Jeon, Young Jun Jeong, and Yong Jae Kim

㍐㢅䝉 䑀㫴㝴 㥉ⴴ䚐 㬅ὤᴴ ᴴ⏙䚐 㡔㜤䚐 Ἤ⫠䒰㢌 ᵉ⓸ ⵃ ᵉ㉥ ⺸㉑ 823

2. 勾庲碂 啣洖 儛壊 愕 儛昷 捊剖

⁎Ⰲ䗒Ṗ 䘟䟟 㰧₆ 㔲 ⁎Ⰲ䗒 ⊳㩦㠦 Ṗ䞶 㑮 㧞⓪ 㾲╖

䧮㦖 (15)⯒ 䐋䟊 ☚㿲䞶 㑮 㧞┺. 㔺䠮㠦 ㌂㣿♲ ⁎Ⰲ䗒 ⳾

◎㦮 ㍺Ἒ ⼖㑮⯒ 䐋䟊 Ἒ㌆♲ 㾲╖ 䧮㦖 㟓 32N㧊┺. 㧊➢

Ⱇ䋂 1,2,3㠦 Ṗ䟊㰖⓪ 䧮㦖 ṗṗ 㟓 148.9N, 113.4N, 40N㧊┺.

㧊 䧮㦖 ṗ Ⱇ䋂㦮 䟃⽋ṫ☚ ⹥ 㫢Ὴṫ☚⯒ ⍮㰖 㞠⓪ Ṩ㧊

┺. ⁎Ⱂ 9(a)㢖 (b)㠦㍲㢖 ṯ㧊 ⁎Ⰲ䗒 ⊳㠦 30N 㧊㌗㦮 䧮 㦚 Ṗ䞮Ⳋ Ⱇ䋂 2㦮 㫢Ὴ㧊 㔲㧧♮Ⳇ ⁎Ⱂ 9(c)㦮 䢫╖♲ ㌂ 㰚㠦㍲㻮⩒ 37N㠦㍲⓪ 㫢Ὴ㠦 㦮䞲 ⼖䡫㧊 ⣲⪍䞮Ợ 䢫㧎♲

┺. 㧊⯒ 䐋䟊 㧊⪶䂮㧎 32Nὒ 㥶㌂䞾㦚 䢫㧎䞶 㑮 㧞┺. ⁎ Ⱂ 10㦖 ṗ Ⱇ䋂 ㌂㧊㠦 㡆ἆ♲ rib㦮 Ṳ㑮㠦 ➆⧒ ㏦Ṗ⧓ ⊳ 㩦㠦 Ṗ䞶 㑮 㧞⓪ 㾲╖ 䧮㦚 ⽊㡂㭖┺. Rib㦮 Ṳ㑮Ṗ Ⱔ㦚㑮

⪳ ㏦Ṗ⧓ ⊳㩦㠦 Ṗ䞶 㑮 㧞⓪ 䧮㦖 㯳Ṗ䞮⋮ ṗ Ⱇ䋂㦮 ṫ

☚⯒ ⍮㰖 㞠☚⪳ ἶ⩺䟊㟒䞲┺. ⡦䞲 ㍺Ἒ 㔲 ṗ Ⱇ䋂㠦 ⺆ 䂮䞶 㑮 㧞⓪ 㑮Ṗ 㩲䞲♮⸖⪲ 㩗㩞䞲 Ṳ㑮⯒ ㍶㩫䟊㟒 䞲┺.

Rib⓪ ┺⯎ Ⱇ䋂㠦 ゚䟊 ⌄㦖 䧮㦚 ⹱₆ ➢ⶎ㠦 ┾Ⳋ㩗㧊 㧧

㞚☚ ♲┺. 䞲䘎 rib㦮 ₎㧊Ṗ ₎㠊㰖Ⳋ l

_b

㢖 cos

T

Ṗ 䄺㰖 Ợ ♮⸖⪲ (12), (13), (14)㠦㍲ ⽒ 㑮 㧞❅㧊 ṫ☚☚ 㯳Ṗ䞲┺.

⁎⩂⋮ rib㦮 ₎㧊⓪ ㏦Ṗ⧓ 䡫㌗ὒ ὖ⩾♮㠊 㧞㦒⸖⪲ 㩗㩞 䞲 Ṩ㦒⪲ ㍺㩫䟊㟒 䞲┺.

㩲㧧♲ ⁎Ⰲ䗒㦮 㧊⪶㩗㧎 ṫ㎇㦖 (20)ὒ (21), (22)㦚 䐋䟊 Ἒ㌆䞶 㑮 㧞┺. 㧊 㧊⪶䂮Ṗ 㔺㩲Ṩὒ ☯㧒䞮₆ 㥚䟊㍲⓪ 㣎⩻㠦 㦮䞲 ṗ Ⱇ䋂㦮 ⼖䡫⨟ (16)☚ 㧊⪶䂮㢖 㔺㩲Ṩ㧊 ☯ 㧒䞮㡂㟒 䞲┺. ⁎⩂⋮ 3D Printer⪲ 䝚⩞㧚㦚 㩲㧧䞶 ἓ㤆 ⁎ Ⱂ 11㠦㍲ ⽒ 㑮 㧞❅㧊 䝚⩞㧚 ⌊⿖㠦 Ⱔ㦖 ゞ ὋṚ㧊 ⹲㌳

䞮㡂 䝚⩞㧚㦮 ⼖䡫⨟㠦 㡺㹾Ṗ ⹲㌳䞲┺. 㧊⯒ ⽊㌗䞮₆ 㥚 䟊 (16)㦒⪲ Ἒ㌆䞲 㧊⪶㩗 ⼖䡫⨟, FEM ⿚㍳㠦 㦮䞲 ⼖䡫⨟

(UG graphics NASTRAN 㧊㣿), 㔺㩲 Ⱇ䋂✺㠦 䧮㦚 Ṗ䞮㡂 䁷㩫䞲 ⼖䡫⨟ ㎎Ṗ㰖⯒ 䚲 2㠦 㩫Ⰲ䞮㡖┺.

㧊⪶Ṩὒ FEM ⿚㍳Ṩ㧊 㥶㌂䞲◆ ゚䟊 㔺㩲 䁷㩫䞲 ⼖䡫

⨟㦖 ㌗╏䧞 䋆 㹾㧊⯒ ⽊㧎┺. 㧊⓪ 3D Printer⪲ ṖὋ䞲 ⳾

◎㧊 ⳝ 䂋㦮 ⩞㧊㠊⪲ 㧊⬾㠊㰖₆ ➢ⶎ㠦 㧎㧻⩻㧊⋮ 㞫㿫

⩻㧊 Ⱇ䋂㠦 Ṗ䟊㰖Ⳋ ⩞㧊㠊⪲ 㧊⬾㠊㰚 ῂ㫆㦮 ⼖䡫㧊 ⹲

㌳䞮㡂 ₎㧊 ⼖䡫⨟㧊 㯳Ṗ䞮⓪ ộ㦒⪲ ⽊㧎┺. ➆⧒㍲ ṫ㎇

⿚㍳ 㔲 㔺㩲 㔺䠮㠦 㦮䞲 ⼖䡫⨟㦚 ⹮㡗䞮㡂 (20)ὒ (21), (22) 㦚 Ἒ㌆䞮㡖┺. Ἒ㌆♲ 㧊⪶ Ṩὒ 㔺䠮 ἆὒṨ㦖 ⁎Ⱂ 12 㠦㍲ 䢫㧎䞶 㑮 㧞┺. ⁎Ⱂ 12(a), (b)⓪ ṗṗ x, y⹿䟻㦮 ⁎Ⰲ 䗒 ⊳㩦 ṫ㎇㦚 ⽊㡂㭒ἶ ⁎Ⱂ 12(c)⓪ ⁎Ⰲ䗒 ⊳㩦㦮 䣢㩚 㠦 ╖䞲 㔺䠮 ἆὒ㧊┺. 㡂₆㍲ 㼃㌟㍶㦖 㧊⪶Ṩ㦚 㩗㌟㍶㦖 䁷㩫䞲 㔺䠮 ἆὒ⯒ ⋮䌖⌎┺.

⁎⧮䝚㠦㍲ 20N₢㰖 䧮㦚 Ṗ䟞㦚 ➢, x㿫 ⹿䟻㦮 㧊⪶㩗㧎 ṫ㎇ Ṩ㦖 㟓 5.87N/mm, 㔺䠮 Ṩ㦖 㟓 5.84N/mm㧊Ⳇ 0.44%

㦮 㧧㦖 㹾㧊⯒ Ṗ㰚┺. Y㿫 ⹿䟻㦮 㧊⪶㩗㧎 ṫ㎇ Ṩὒ 㔺

⁎Ⱂ 9. 㩲㞞♲ ⁎Ⰲ䗒㦮 㾲╖ ㏦⊳ 䧮 㔺䠮.

Fig. 9. This experiment results show the maximum fingertip force of the proposed gripper. (b) shows the buckling caused by excess fingertip force. (c) shows detail view of the (b).

⁎Ⱂ 10. Rib㦮 Ṳ㑮㠦 ➆⯎ ⁎Ⰲ䗒㦮 㾲╖ ㏦⊳ 䧮.

Fig. 10. Experiment result shows the maximum fingertip force of the proposed gripper depending on the number of the ribs.

䚲 2. ⿚㍳ ⹿⻫㠦 ➆⯎ ṗ Ⱇ䋂㦮 ₎㧊 ⼖䢪.

Table 2. The displacement changes of each link depending on the analysis method.

Parameter Theoretical value

FEM results

Experiment results

O1

0.0386mm 0.0420mm 0.137mm

O2

0.0604mm 0.0698mm 0.166mm

O3

0.1449mm 0.1660mm 0.325mm

⁎Ⱂ 11. Ⱇ䋂 1㦮 ㍺Ἒ ⹥ 㩲㧧 䡫㌗ ゚ᾦ.

Fig. 11. The figure shows the different in link1 design. (a) is simplified model for analysis. (b) is design model using the CAE. (c) is fabricated model using the 3D printer. (d) shows the defect of the printed model. The red circles show the empty space because of the low resolution of the printer.

Strength and Stiffness Analysis for a Flexible Gripper with Parallel Pinching and Compliant Grasping Capabilities

㢨 ⒉ 㠄, 㤸 䝉 ㉑, 㥉 㟝 㨴, ὴ 㟝 㣠 824

䠮Ṩ㦖 ṗṗ 64.18N/mm, 47.26N/mm㦒⪲ 26%㦮 ゚ᾦ㩗 䋆 㹾㧊⯒ Ṗ㰚┺. 㧊⓪, 㧊⪶Ṩ㧊 ⹎㏢⼖㥚⯒ Ṗ㩫䞲 ㍶䡫䢪♲

㑮㔳㧎 ⹮Ⳋ 㔺㩲 㔺䠮㦖 ㍶䡫ῂṚ㦚 ⻭㠊⋮Ⳇ 㧊ộ㧊 y㿫

⼖㥚㠦 Ⱔ㦖 㡗䟻㦚 㭒⓪ ộ㦚 䕢㞛♲┺. ㏦⊳㦮 䣢㩚㦮 ἓ 㤆 㧊⪶Ṩὒ 㔺䠮 ἆὒ Ṩ㧊 584.3Nm/rad㢖 595.4Nm/rad⪲

㥶㌂䞾㦚 䢫㧎䞶 㑮 㧞┺.

3. 朢汗笛 砒滆 柢 暖儆岃 渗儊洖汞 儛昷 捊剖

㧊⪶㩗㧎 㑮㔳 Ṩὒ 㔺䠮 Ṩ㦮 ゚ᾦ⯒ 㥚䟊 㔺䠮 䢮ἓ㦚

⁎Ⱂ 13㢖 ṯ㧊 ῂ㎇䞮㡂 ⁎Ⰲ䗒 ⊳ Ⱎ❪㠦 ⶒ㼊⯒ 㩧㽟㔲䋺 ἶ ⁎Ⰲ䗒 㭧Ṛ㰖㩦㠦 䧮㦚 Ṗ䞮㡖┺. ⁎Ⰲ䗒 ⊳㩦 ṫ㎇ ⿚

㍳ Ⱎ㺂Ṗ㰖⪲ 㧊⪶Ṩ, FEM ⿚㍳Ṩ, ⁎Ⰲἶ 㔺䠮Ṩ㦚 ṗṗ

゚ᾦ䟊 ⽊㞮㦒Ⳇ 䚲 3㠦㍲ 䢫㧎䞶 㑮 㧞┺. k k k

₁

,

₂

,

₃

✺㦖 ⁎ Ⱂ 13㠦 䚲㔲♲ 㥚䂮 1,2,3㠦 䧮㧊 Ṗ䟊㰞 ➢ ⁎Ⰲ䗒 㭧Ṛ㰖 㩦㦮 ⼖䡫⨟㦚 䁷㩫䞮㡂 Ἒ㌆䞲 ṫ㎇㧊┺. 㧊⪶Ṩὒ FEM ἆ ὒ Ṩ㦮 㹾㧊⓪ 㑮㔳 㥶☚⯒ 㥚䞲 ┾㑲䢪♲ 䡫㌗ὒ 㔺㩲⪲

⳾◎Ⱇ♲ 䡫㌗ 㹾㧊㠦 㦮䞲 ộ㦒⪲ 䕢㞛♲┺. ⡦䞲 㧊⪶Ṩὒ FEM ἆὒṨ㠦 ゚䟊 㔺䠮Ṩ㧊 㡺䧞⩺ 䋆 ộ㦚 㞢 㑮 㧞┺.

㧊⓪ Ⱇ䋂✺ὒ rib✺㦚 㡆ἆ䟊㭒⓪ 䞖㦮 Ⱎ㺆㠦㍲ ₆㧎䞮Ⳇ, 㧊㠦 㦮䟊 Ⱇ䋂✺㦮 ⼖䡫⨟㧊 㟧┾ ┾㑲㰖㰖 ⽊㦮 㧊⪶Ṩ⽊

┺ 㧧₆ ➢ⶎ㦒⪲ 䕢㞛♲┺.

⁎Ⰲ䗒 㭧Ṛ㰖㩦㦮 ṫ㎇ 1.29N/mm㢖 ⁎Ⰲ䗒 ⊳㦮 ṫ㎇

5.84N/mm⯒ ゚ᾦ䞮Ⳋ, ⁎Ⰲ䗒 ⊳㦮 ṫ㎇㧊 4.5⺆ 㧊㌗ ⏨㦖 ộ㦚 㞢 㑮 㧞┺. 㧊⯒ 䐋䟊 㩲㞞䞲 ⁎Ⰲ䗒Ṗ ⏨㦖 ㏦⊳ ṫ

㎇㦒⪲ 㩫⹖䞲 䕢㰖Ṗ Ṗ⓻䞲 ☯㔲㠦 ⁎Ⰲ䗒 㩚㼊⪲ ⶒ㼊⯒

⿖✲⩓Ợ Ṧ㕖 㑮 㧞⓪ ㎇⓻㦚 Ṗ㰦㦚 䢫㧎䞶 㑮 㧞┺.

V. 冶 冶嵦 嵦

⽎ ⏒ⶎ㠦㍲⓪ 㩫⹖䞲 䘟䟟 㰧₆㢖 㥶㡆䞲 䕢㰖Ṗ Ṗ⓻䞲

㌞⪲㤊 ⁎Ⰲ䗒 Ⲫ䄺┞㯮㦚 㩲㞞䞮ἶ, ῂ㫆㩗 䔏㰫, 䘟䟟㰧₆ 㔲㦮 ṫ☚ ⹥ ṫ㎇, 㥶㡆䞲 䕢㰖 㔲㦮 ṫ㎇ ❇㦚 㧊⪶㩗㦒⪲

⿚㍳䞮㡖┺. ⡦䞲 㧊⪶ Ṩὒ FEM ⿚㍳ Ṩ㦚 㔺㩲 㔺䠮 ἆὒ Ṩὒ ゚ᾦ䞮㡂 ⁎ ㎇⓻㦚 Ỗ㯳䞮㡖┺. 䘟䟟 㰧₆ 㔲 ⁎Ⰲ䗒

⊳㩦 ṫ㎇㦖 5.84N/mm㦒⪲ ⏨㞚 㩫⹖䞲 㰧₆㠦 㥶Ⰲ䞮Ⳇ, 㥶㡆䞲 䕢㰖 㔲 ⁎Ⰲ䗒 㭧Ṛ㩦 ṫ㎇㦖 1.29N/mm⪲ ⌄㞚 ┺ 㟧䞲 ⶒ㼊㦮 䕢㰖㠦 㥶㣿䞾㦚 㞢 㑮 㧞㠞┺. Ṳ⹲♲ ⁎Ⰲ䗒

⓪ ╖⿖⿚㧊 ☯㧒䞲 ABS 㨂㰞⪲ 㩲㧧♮㠞㦒⸖⪲, ṗ Ⱇ䋂✺

㦮 㨂㰞ὒ 䡫㌗㦚 Ṳ㍶䞾㦒⪲㖾 㥶㡆㎇ὒ 㩫⹖㎇㦚 ▪㤇 䟻

㌗㔲䌂 㑮 㧞㦚 ộ㧊┺. ⡦䞲 ⽎ ⏒ⶎ㦮 㧊⪶㩗㧎 ⿚㍳㦖 ⁎ Ⰲ䗒Ṗ 㑮㰗㧎 㧦㎎㠦㍲ 㧊⬾㠊㪢㦒⸖⪲, 㿪䤚 ┺㟧䞲 㧦㎎

㠦㍲㦮 䔏㎇ ⿚㍳㧊 㧊⬾㠊㪎㟒 䞶 ộ㧊┺. ⡦䞲 ⁎Ⰲ䗒㦮

㏢䡫䢪 ⹥ 䡫㌗ ⼖ἓ㦚 䐋䟊 ㌆㠛㣿 ⁎Ⰲ䗒 ㈦Ⱒ 㞚┞⧒ 㧎 Ṛ䡫 ⪲⽝ 䟎✲⋮ 㧎Ὃ㦮㑮⪲㦮 㩗㣿㦚 㰚䟟䞶 Ἒ䣣㧊┺.

(a)

(b)

(c)

⁎Ⱂ 12. ⁎Ⰲ䗒 ㏦ ⊳ ṫ㎇ 㔺䠮 ἆὒ.

Fig. 12. Experimental Results for fingertip stiffness. (a) and (b) are x and y-axis stiffness of the fingertip. (c) is rotation stiffness of the fingertip.

䚲 3. ⿚㍳ ⹿⻫㠦 ➆⯎ ⁎Ⰲ䗒 ⴎ䐋㦮 ṫ㎇.

Table 3. The stiffness of the gripper body depending on the analysis method.

Parameter Theoretical values

FEM results

Experiment results k

1

0.9695N/mm 1.2586N/mm 1.513N/mm k

2

0.7775N/mm 1.0036N/mm 1.293N/mm k

3

0.9903N/mm 1.2614N/mm 1.485N/mm

⁎Ⱂ 13. ⁎Ⰲ䗒 ⴎ䐋㦮 ṫ㎇ 䁷㩫 㥚䂮.

Fig. 13. Stiffness measurement point of gripper body.

㍐㢅䝉 䑀㫴㝴 㥉ⴴ䚐 㬅ὤᴴ ᴴ⏙䚐 㡔㜤䚐 Ἤ⫠䒰㢌 ᵉ⓸ ⵃ ᵉ㉥ ⺸㉑ 825

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[2] T. Akaike, Y. Tsumaki, R. Tadakuma, and M. Yamano ³$

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決 塛 毖

2015⎚ 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ 㩚㧦Ὃ䞯ὒ 㫎㠛. 2015⎚~䡚㨂 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ

╖䞯㤦 㩚㧦Ὃ䞯ὒ ㍳㌂ὒ㩫 㨂䞯 㭧.

ὖ㕂⿚㟒⓪ 㧎Ὃ㦮㑮, 㤾㠊⩂な ⪲⽝.

洊 笛 昣

2015⎚ 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ 㩚㧦Ὃ䞯ὒ 㫎㠛. 2015⎚~䡚㨂 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ

╖䞯㤦 㩚㧦Ὃ䞯ὒ ㍳㌂ὒ㩫 㨂䞯 㭧.

ὖ㕂⿚㟒⓪ VSJ, 㩫⹖ ₆Ἒ㍺Ἒ.

洛 殯 渆

2015⎚ 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ 㩚㧦Ὃ䞯ὒ 㫎㠛. 2015⎚~䡚㨂 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ

╖䞯㤦 㩚㧦Ὃ䞯ὒ ㍳㌂ὒ㩫 㨂䞯 㭧.

ὖ㕂⿚㟒⓪ ⪲⽝ ⁖⩂ぢ, 㤾㠊⩂な ⪲⽝.

卆 殯 沲

2003 ⎚ 䞲ῃὒ䞯₆㑶㤦 㩚₆㩚㧦Ὃ䞯 (⹫㌂). 2003⎚~2011⎚ ㌒㎇㩚㧦 ㌳㌆₆ 㑶㡆ῂ㏢ 㑮㍳㡆ῂ㤦. 2011⎚~2013⎚ ㌒

㎇㩚㧦 㫛䞿₆㑶㤦 㩚ⶎ㡆ῂ㤦. 2014⎚~

䡚㨂 䞲ῃ₆㑶ᾦ㥷╖䞯ᾦ 㩚㧦Ὃ䞯ὒ

㫆ᾦ㑮. ὖ㕂⿚㟒⓪ ㌳㼊⳾㌂ Ⲫ䄺┞㯮,

㧎Ṛ-⪲⽝ 㧎䎆⩟㎮, 㦮⬢ ⹥ 㑮㑶⪲⽝ ❇.