منابع مشابه
Compliant Microgripper with Parallel Straight-line Jaw Trajectory for Nanostructure Manipulation
INTRODUCTION Compliant gripping mechanisms are particularly suited for precision manipulation of microand nanoscale objects by virtue of having zero backlash, no parasitic columbic friction effects, and often only requiring one actuator to close two gripping faces symmetrically about a centerline of action. Many previous compliant gripping mechanisms use a parallelogram structure (Fig. 1a) to c...
متن کاملMechanical design, analysis and testing of a large-range compliant microgripper
This paper presents the mechanical design, analysis, fabrication, and testing procedures of a new large-range microgripper which is based on a flexible hinge structure. The uniqueness of the gripper is that the gripper arms not only provide large gripping range but also deliver approximately rectilinear movement as the displacement in nonworking direction is extremely small. The large gripping ...
متن کاملOptimal Kinodynamic Planning for Compliant Mobile Manipulators
Robot manipulation tasks for a mobile, personal robot will often be importantly distinct from those of a traditional, factory robot arm; correspondingly, appropriate motion planning solutions may be notably different, as well. This paper introduces novel definitions of and solution methods for optimal kinodynamic planning for mobile robot manipulation applications. In particular, we consider a ...
متن کاملTopology Optimization of Compliant Mechanisms Using the Homogenization Method
A procedure to obtain a topology of an optimal structure considering flexibility is presented. The methodology is based on a mutual energy concept for formulation of flexibility and the homogenization method. A multi-objective optimization problem is formulated as an application of compliant mechanism design. Some examples of the design of compliant mechanisms for plane structures are presented...
متن کاملTopology optimization of compliant mechanisms with multiple outputs
A b s t r a c t A procedure for the topology design of compliant mechanisms with multiple output requirements is presented. Two methods for handling the multiple output requirements are developed, a combined virtual load method and a weighted sum of objectives method. The problem formulations and numerical solution procedures are discussed and illustrated by design examples. The examples illust...
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ژورنال
عنوان ژورنال: JSME International Journal Series A
سال: 2006
ISSN: 1344-7912,1347-5363
DOI: 10.1299/jsmea.49.589