TY - GEN
T1 - Meso-scale compliant gripper inspired by caterpillar's proleg
AU - Jung, Gwang Pil
AU - Koh, Je Sung
AU - Cho, Kyu Jin
PY - 2011
Y1 - 2011
N2 - We propose a biomimetic gripper, inspired by a caterpillar's proleg, that can reliably grip dusty and rough terrain. A caterpillar's proleg makes this possible by using a retractor muscle that opens and closes the proleg, and a planta that gives compliance to the proleg. We implement these components with shape memory alloy (SMA) coil actuators and flexure joints. The gripper is fabricated using composite links and flexure joints. This method replaces metal-based joints and links with flexure joints and composite-based rigid links. The composite-based design provides a simple, light weight, and compact structure that enables the gripper to be applied to small-scale robots. Modeling and experiments are used to analyze the gripping force. The results show how the gripping force changes depending on the length of the flexure joint. A prototype was built to demonstrate reliable gripping on a rough-surfaced block using an adaptive mechanism.
AB - We propose a biomimetic gripper, inspired by a caterpillar's proleg, that can reliably grip dusty and rough terrain. A caterpillar's proleg makes this possible by using a retractor muscle that opens and closes the proleg, and a planta that gives compliance to the proleg. We implement these components with shape memory alloy (SMA) coil actuators and flexure joints. The gripper is fabricated using composite links and flexure joints. This method replaces metal-based joints and links with flexure joints and composite-based rigid links. The composite-based design provides a simple, light weight, and compact structure that enables the gripper to be applied to small-scale robots. Modeling and experiments are used to analyze the gripping force. The results show how the gripping force changes depending on the length of the flexure joint. A prototype was built to demonstrate reliable gripping on a rough-surfaced block using an adaptive mechanism.
UR - http://www.scopus.com/inward/record.url?scp=84863313871&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980319
DO - 10.1109/ICRA.2011.5980319
M3 - Conference contribution
AN - SCOPUS:84863313871
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1831
EP - 1836
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -