Kinematic Analysis and Dimensional Synthesis of a Meso-Gripper

Guochao Bai, Xianwen Kong, James Millar Ritchie

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In recent years, applications in industrial assemblies within a size range from 0.5mm to 100mm are increasing due to the large demands for digital multimedia products. Research on grippers or robotic hands within the mesoscopic scale of this range has not been well explored. This paper proposes a mesoscopic scale gripper (meso-gripper) which has two modes: passive adjusting mode and an angled precision gripping mode. The gripper adjusts its shape automatically according to the appropriate mode. This form of gripping and the associated mechanism are novel in their implementation and operation. The meso-gripper which has metamorphic characteristics is generated by integrating a remote center of motion (RCM) mechanism with a cross four-bar (CFB) linkage. The dimensional synthesis of the gripper is outlined for a specified task-based gripping followed by the analysis of the synthesizing mechanism. A differential mechanism is adopted to increase the flexibility of the meso-gripper. Prototype is fabricated and tested using 3D printing technology to verify the feasibility of the design.

Original languageEnglish
Title of host publicationASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
PublisherAmerican Society of Mechanical Engineers
Number of pages8
ISBN (Electronic)9780791850152
Publication statusPublished - 2016
Event40th Mechanisms and Robotics Conference 2016 - Charlotte, United States
Duration: 21 Aug 201624 Aug 2016


Conference40th Mechanisms and Robotics Conference 2016
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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