Abstract
Robotic manipulation in the agri-food industry faces several issues, including object variation, fragility and food safety. Underactuated flexure-based gripper allow passive adaptation to object variation, whilst monolithic flexure joints drive down cost, part-count, hygiene requirements, contamination and wear. However, designing flexure-based grippers presents challenges in achieving sufficient support stiffness, load-bearing capacity and joint deflection. Additionally, modeling the non-linear flexure behavior may become computationally expensive, especially under wide a variety of load cases, limiting the optimization approaches to simple structures and joints. In this work we present an interleaved computational optimization algorithm for underactuated flexure-based grippers, aimed at maximizing the range of graspable circular objects under a given load. This method achieves a superior design faster than state-of-the-art methods that optimize all design parameters simultaneously. A prototype constructed using rapid-prototyping validates the usage of the design method, and experimentally illustrates gripper performance.
Original language | English |
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Number of pages | 9 |
DOIs | |
Publication status | Published - 23 Aug 2023 |
Event | ASME 2023 International Design Engineering Technical Conference and Computers and Information in Engineering Conference, IDETC/CIE 2023 - Boston Park Plaza, Boston, United States Duration: 20 Aug 2023 → 23 Aug 2023 |
Conference
Conference | ASME 2023 International Design Engineering Technical Conference and Computers and Information in Engineering Conference, IDETC/CIE 2023 |
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Abbreviated title | IDETC/CIE 2023 |
Country/Territory | United States |
City | Boston |
Period | 20/08/23 → 23/08/23 |
Keywords
- 2024 OA procedure
- Gripping
- Compliant Mechanism
- Flexures
- Optimization
- Flexure-hinges
- Under-actuation
- Grasping