Structural, Kinematic and Static Modelling of a Pneumatic Muscle Actuated Gripper System
The paper presents the stages of the development process of a novel, light and eco-friendly, bionic type gripper system. The motions necessary for gripping are achieved by original, auto-adaptive, bio-inspired systems with the pneumatic muscle as motion generator. The method utilised for developing the novel gripper system is analogy-based design, a tool aimed at widening the field of inspiration for design by adding models from nature. Further paper discusses the structure of the gripper system and determination of the speeds and forces/torques transmission functions.
Prof. Adrian Olaru
T. Deaconescu and A. Deaconescu, "Structural, Kinematic and Static Modelling of a Pneumatic Muscle Actuated Gripper System", Applied Mechanics and Materials, Vol. 811, pp. 318-322, 2015