생체모사 소프트 그리퍼 설계 및 제작

Abstract

Recently, the robotic hand sector is widely utilized throughout the entire machine industry, where gripping mechanism is gradually becoming more complex and standardized. In this study, studies were conducted to hold irregular, unstructured objects with simpler, more manageable operating principles based on compliant mechanics. In fact, it used the principle of buckling which is not commonly used in mechanical design to provide stable grasping force without giving any damage to objects with uncertain magnitude and rigidity. By using CFM(constant force mechanism) based on the principle of buckling, the force of the object and the contact surface is fixed evenly across the segments, providing a stable grasping force to the object. Also, a bar that serves as a linear guide prevents the hand from buckling to unwanted direction gives elaboration to the hand. With a simpler principle, the lower unit price and higher applicability, there is little friction in the mechanism, and it focused on creating a lightweight hand, which have significance for about 90% of excellent gripping performance.