@inproceedings{566d78bbbc17454cb2d6bdb92685f8ec,
title = "Structural Parameter Selection Strategy of Gripper for Enhanced Gripping Force and Jam Resistance",
abstract = "Grippers capable of grasping and releasing under high loads are crucial for robots performing heavy-load tasks. This research introduces an innovative structural parameter selection strategy to develop such a mechanical gripper. This strategy emerges from detailed modeling and analysis of the mechanical gripper. The strategy significantly improves gripping force and anti-jamming ability by analyzing the screw and guide rail's parameters and the impact of gripping speed on the gripping and locking force. With this strategy, we have developed a mechanical gripper with the maximum gripping force of 311.08N and locking force of 755N. We also installed the gripper on a humanoid robot, enabling it to enter a car with one hand and manipulate the steering wheel. The results further assess the effectiveness of the selection strategy.",
keywords = "gripping force, jam resistance, mechanical gripper, selection strategy",
author = "Kehong Chen and Xuechao Chen and Xin Zhu and Xiaoshuai Ma and Yue Dong",
note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 21st IEEE International Conference on Mechatronics and Automation, ICMA 2024 ; Conference date: 04-08-2024 Through 07-08-2024",
year = "2024",
doi = "10.1109/ICMA61710.2024.10633091",
language = "English",
series = "2024 IEEE International Conference on Mechatronics and Automation, ICMA 2024",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1735--1740",
booktitle = "2024 IEEE International Conference on Mechatronics and Automation, ICMA 2024",
address = "United States",
}
