Development of Exoskeleton 4-Bar Linkage Gripper for Front End Module (FEM) Assembly Process

Myoung Hoon Shim; Jung Hoon Kim

doi:10.4028/www.scientific.net/AMM.752-753.1022

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 752-753Development of Exoskeleton 4-Bar Linkage Gripper...

Development of Exoskeleton 4-Bar Linkage Gripper for Front End Module (FEM) Assembly Process

Abstract:

In this paper, development of exoskeleton gripper targeted for FEM assembly process is described. This exoskeleton system is currently being under study for industry field application. The proposed gripper system is capable of robustly connecting bulky heavy-weighted FEM to exoskeleton robot system. In order to reduce the load on the exoskeleton, lightening method based on H-beam structure is used alongside with the usage of small actuators which was possible due to 4-bar linkage. Finally, performance of the developed gripper was validated through experiments.

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Periodical:

Applied Mechanics and Materials (Volumes 752-753)

Pages:

1022-1026

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.752-753.1022

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Cite this paper

Online since:

April 2015

Authors:

Myoung Hoon Shim, Jung Hoon Kim*

Keywords:

4 Bar Linkage, FEM, Front End Module, Industrial Exoskeleton, Robot Gripper

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* - Corresponding Author

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