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A Novel Nonlinear Compliant Link on Simple Grippers

Zhiwei Zhang, Alberto Rodriguez and Matthew T. Mason
Conference Paper, Carnegie Mellon University, 2015 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS 2015), September, 2015

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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 Reference
@conference{Zhang-2015-6026,
title = {A Novel Nonlinear Compliant Link on Simple Grippers},
author = {Zhiwei Zhang and Alberto Rodriguez and Matthew T. Mason},
booktitle = {2015 IEEE/RSJ Conference on Intelligent Robots and Systems (IROS 2015)},
school = {Robotics Institute , Carnegie Mellon University},
month = {September},
year = {2015},
address = {Pittsburgh, PA},
}
2017-09-13T10:38:34+00:00