Design and Development of a Monolithic Gripper with Flexural Joints for Macroscale Manipulation

  • Ngonidzaishe N. Mrewa
  • Ahmed M.R. Fath Elbab
  • George N. Nyakoe

Abstract

This paper presents a robotic gripper design whichenacts flexural joints rather than prismatic and revolute joints toensure gripping action. The designed flexure-based gripper exhibitslarge displacement than is normally possible with such joint-typesin effect. With large displacements, the gripper used to handlekiwifruit and at the same time determine its softness. Flexuraljoint mechanism is based on the intrinsic compliancy of a materialto achieve structural elastic deformation and execute the requisitedisplacement. The monolithic model is designed to demand morelumped compliancy displacement than distributed compliancy. Thefeasibility of the design is examined through a series of numericalanalysis and simulations on COMSOL platform leading to subtractivefabrication of the prototype.
Published
Oct 7, 2019
How to Cite
MREWA, Ngonidzaishe N.; FATH ELBAB, Ahmed M.R.; NYAKOE, George N.. Design and Development of a Monolithic Gripper with Flexural Joints for Macroscale Manipulation. Proceedings of Sustainable Research and Innovation Conference, [S.l.], p. 81-87, oct. 2019. ISSN 2079-6226. Available at: <http://sri.jkuat.ac.ke/ojs/index.php/proceedings/article/view/826>. Date accessed: 06 apr. 2020.