A Novel Nonlinear Compliant Link on Simple Grippers
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2923 - 2928, September, 2015
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.
BibTeX
@conference{Zhang-2015-6026,author = {Zhiwei Zhang and Alberto Rodriguez and Matthew T. Mason},
title = {A Novel Nonlinear Compliant Link on Simple Grippers},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2015},
month = {September},
pages = {2923 - 2928},
}
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