In:
International Journal of Advanced Robotic Systems, SAGE Publications, Vol. 10, No. 3 ( 2013-03-01), p. 174-
Abstract:
Inspired by the bite and swallowing function of a snake's mouth, a robot end-effector grabbing mechanism was designed. The grabbing movement is realized by the ‘bite’ function of the bionic snake mouth actuator, and the ‘swallowing’ function insures a continuous grip on the object. To implement the continuous grip function of the new robot end-effector, the complex motion of a snake's mouth is simplified into three basic movements based on the anatomy of a snake's mouth and with a combination of bionics and engineering. The upper jaw consists of a double four-bar linkage mechanism and the lower jaw mechanism implementing a lateral expansion function are the two elements of the robot end-effector. The relationship model and the corresponding curves of the actuating force and gripping force are necessary to implement an open-loop control of the robot end-effector. Through analysis and simulation, linkage parameters are determined to implement the desired motion.
Type of Medium:
Online Resource
ISSN:
1729-8814
,
1729-8814
Language:
English
Publisher:
SAGE Publications
Publication Date:
2013
detail.hit.zdb_id:
2202393-8
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