Design and Experimental Validation of Spring-Assisted Two-Finger Parallel Gripper

초록

This study presents a design incorporating a built-in spring to enhance the gripping force of a two-finger parallel gripper. Conventional grippers grasp objects through the parallel linear motion of two tips. Various mechanisms can generate this motion, among which the rack-and-pinion gear mechanism features rack gears moving linearly in opposite directions around a central pinion gear. This study proposes a method to enhance gripping force by connecting the gripper’s internal frame and the rack gear within such a mechanism. Additionally, the proposed design maintains a certain level of gripping force by the restoring force of the spring even in the event of power loss. The gripping force and the required motor torque in the proposed method are analyzed. The experiments were conducted to compare the gripping force with and without the spring, and to evaluate the effectiveness of the proposed mechanism by measuring the gripping force generated solely by the spring when the motor power was turned off.

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