A novel nonlinear compliant link on simple grippers
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IROS15_1034_FI.pdf
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Author(s)
Zhiwei Zhang
Mason, Matthew T.
Rodriguez Garcia, Alberto
Date Issued
September 2015
Journal
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Zhiwei Zhang, Alberto Rodriguez, and Matthew T. Mason. “A Novel Nonlinear Compliant Link on Simple Grippers.” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 28 September - 2 October, 2015, Hamburg, Germany, IEEE, 2015. © 2015 IEEE.
Version
Author's final manuscript
Abstract
This paper presents a novel nonlinear compliant link. It has two major properties: bi-directionality and stiffening compliance. Bi-directionality means it can be stretched and compressed, and is realized by antagonistic arrangement of an extension spring and a compression spring. Stiffening compliance means it becomes stiffer as it is stretched, and is realized by asymmetric geometry. The links are parts of Simple Hand. Because Simple Hand gives limited space for links, current iteration of links is not obviously nonlinear. However, nonlinearity should be more obvious if links are designed for larger grippers.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/IROS.2015.7353780
