Academic literature on the topic 'Soft Gripper'
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Journal articles on the topic "Soft Gripper"
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Thongking, Witchuda, Ardi Wiranata, Ayato Minaminosono, Zebing Mao, and Shingo Maeda. "Soft Robotic Gripper Based on Multi-Layers of Dielectric Elastomer Actuators." Journal of Robotics and Mechatronics 33, no. 4 (August 20, 2021): 968–74. http://dx.doi.org/10.20965/jrm.2021.p0968.
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Dielectric elastomer actuators (DEAs) are a promising technology for soft robotics. The use of DEAs has many advantages, including light weight, resilience, and fast response for its applications, such as grippers, artificial muscles, and heel strike generators. Grippers are commonly used as grasping devices. In this study, we focus on DEA applications and propose a technology to expand the applicability of a soft gripper. The advantages of gripper-based DEAs include light weight, fast response, and low cost. We fabricated soft grippers using multiple DEA layers. The grippers successfully held or gripped an object, and we investigated the response time of the grippers and their angle characteristics. We studied the relationship between the number of DEA layers and the performance of our grippers. Our experimental results show that the multi-layered DEAs have the potential to be strong grippers.
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Yang, Yang, Kaixiang Jin, Honghui Zhu, Gongfei Song, Haojian Lu, and Long Kang. "A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback." Micromachines 12, no. 10 (September 23, 2021): 1141. http://dx.doi.org/10.3390/mi12101141.
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Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.
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Song, Eun Jeong, Jung Soo Lee, Hyungpil Moon, Hyouk Ryeol Choi, and Ja Choon Koo. "A Multi-Curvature, Variable Stiffness Soft Gripper for Enhanced Grasping Operations." Actuators 10, no. 12 (November 29, 2021): 316. http://dx.doi.org/10.3390/act10120316.
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For soft grippers to be applied in atypical industrial environments, they must conform to an object’s exterior shape and momentarily change their stiffness. However, many of the existing grippers have limitations with respect to these functions: they grasp an object with only a single curvature and a fixed stiffness. Consequently, those constraints limit the stability of grasping and the applications. This paper introduces a new multicurvature, variable-stiffness soft gripper. Inspired by the human phalanx and combining the phalanx structure and particle jamming, this work guarantees the required grasping functions. Unlike the existing soft pneumatic grippers with one curvature and one stiffness, this work tries to divide the pressurized actuating region into three parts to generate multiple curvatures for a gripper finger, enabling the gripper to increase its degrees of freedom. Furthermore, to prevent stiffness loss at an unpressurized segment, this work combines divided actuation and the variable-stiffness capability, which guarantee successful grasping actions. In summary, this gripper generates multiple grasping curvatures with the proper stiffness, enhancing its dexterity. This work introduces the new soft gripper’s design, analytical modeling, and fabrication method and verifies the analytic model by comparing it with FEM simulations and experimental results.
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Goh, Qi-Lun, Pei-Song Chee, Eng-Hock Lim, and Danny Wee-Kiat Ng. "An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation." Nanomaterials 12, no. 8 (April 12, 2022): 1317. http://dx.doi.org/10.3390/nano12081317.
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High compliance and muscle-alike soft robotic grippers have shown promising performance in addressing the challenges in traditional rigid grippers. Nevertheless, a lack of control feedback (gasping speed and contact force) in a grasping operation can result in undetectable slipping and false positioning. In this study, a pneumatically driven and self-powered soft robotic gripper that can recognize the grabbed object is reported. We integrated pressure (P-TENG) and bend (B-TENG) triboelectric sensors into a soft robotic gripper to transduce the features of gripped objects in a pick-and-place operation. Both the P-TENG and B-TENG sensors are fabricated using a porous structure made of soft Ecoflex and Euthethic Gallium-Indium nanocomposite (Eco-EGaIn). The output voltage of this porous setup has been improved by 63%, as compared to the non-porous structure. The developed soft gripper successfully recognizes three different objects, cylinder, cuboid, and pyramid prism, with a good accuracy of 91.67% and has shown its potential to be beneficial in the assembly lines, sorting, VR/AR application, and education training.
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Phung, Van Binh. "SIMULATION RESEARCH ON THE GRASPING PROCESSOF THE SOFT ROBOT GRIPPER." Journal of Science and Technique 17, no. 4 (September 27, 2022): 54–69. http://dx.doi.org/10.56651/lqdtu.jst.v17.n04.403.
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Thisarticlepresents a method to simulate the dynamics of the grasping process of a soft robotic gripper that is made of silicon. The pneumatically actuated soft fingers are composed of interconnecting hollow chambers. Each soft finger is modeled as a series of line-segment links using a multibody dynamics approach. Numerical simulations using Abaqus/CAE software are used to determine the system's dynamic parameters. The soft gripper’s model is then integrated into the robotic manipulators that are built on MSC Adams software. The interaction between soft grippers and objects is modeled according to the Hertz contact theory. The proposed model allows for the investigation of soft gripper gripping capacity with various types of objects and different moving velocities and accelerations. The simulation shows that the soft gripper can hold a spherical object and a cylindrical object with the same mass of 300 g at a maximum acceleration of 9.9 m/s2and 3.6 m/s2respectively. The results of the study are being used to improve the design of the robot's soft gripper.
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Terrile, Silvia, Miguel Argüelles, and Antonio Barrientos. "Comparison of Different Technologies for Soft Robotics Grippers." Sensors 21, no. 9 (May 8, 2021): 3253. http://dx.doi.org/10.3390/s21093253.
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Soft grippers have experienced a growing interest due to their considerable flexibility that allows them to grasp a variety of objects, in contrast to hard grippers, which are designed for a specific item. One of their most remarkable characteristics is the ability to manipulate soft objects without damaging them. This, together with their wide range of applications and the use of novels materials and technologies, renders them a very robust device. In this paper, we present a comparison of different technologies for soft robotics grippers. We fabricated and tested four grippers. Two use pneumatic actuation (the gripper with chambered fingers and the jamming gripper), while the other two employ electromechanical actuation (the tendon driver gripper and the gripper with passive structure). For the experiments, a group of twelve objects with different mechanical and geometrical properties have been selected. Furthermore, we analyzed the effect of the environmental conditions on the grippers, by testing each object in three different environments: normal, humid, and dusty. The aim of this comparative study is to show the different performances of different grippers tested under the same conditions. Our findings indicate that we can highlight that the mechanical gripper with a passive structure shows greater robustness.
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Tang, Zhijie, Jiaqi Lu, Zhen Wang, and Gaoqian Ma. "The development of a new variable stiffness soft gripper." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987982. http://dx.doi.org/10.1177/1729881419879824.
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A new variable stiffness four-finger soft gripper with a combination of rigid and soft structures is designed. The combination of rigid and soft structures is one of the methods to improve the performance of soft grippers. Grasping motion is achieved by the rigid structure of the screw and the connecting rod. Soft gripper uses human finger-like structure made of silicone, and the air pressure and the rigidity of the soft fingers can be adjusted by the air pump. The soft gripper overcomes the inability of a rigid gripper to easily and safely grasp soft and brittle objects and the inability of a completely soft gripper to exert sufficiently high forces to achieve effective grasping. Grasping force can be improved by increasing the stiffness of the finger and the driving stroke of screw. The variable grasping force allows the soft gripper to grasp different shape objects, specially soft and brittle objects.
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Seibel, Arthur, Mert Yıldız, and Berkan Zorlubaş. "A Gecko-Inspired Soft Passive Gripper." Biomimetics 5, no. 2 (March 25, 2020): 12. http://dx.doi.org/10.3390/biomimetics5020012.
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This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object’s surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface.
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Miron, Geneviève, Benjamin Bédard, and Jean-Sébastien Plante. "Sleeved Bending Actuators for Soft Grippers: A Durable Solution for High Force-to-Weight Applications." Actuators 7, no. 3 (July 17, 2018): 40. http://dx.doi.org/10.3390/act7030040.
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Soft grippers are known for their ability to interact with objects that are fragile, soft or of an unknown shape, as well as humans in collaborative robotics applications. However, state-of-the-art soft grippers lack either payload capacity or durability, which limits their use in industrial applications. In fact, high force density pneumatic soft grippers require high strain and operating pressure, both of which impair their durability. This work presents a new sleeved bending actuator for soft grippers that is capable of high force density and durability. The proposed actuator is based on design principles previously proven to improve the life of pneumatic artificial muscles, where a sleeve provides a uniform reinforcement that reduces local stresses and strains in the inflated membrane. The sleeved bending actuator features a silicone membrane and an external two-material sleeve that can support high pressures while providing a flexible grip. The proposed sleeved bending actuators are validated through two grippers, sized according to foreseen soft gripper applications: A small gripper for drone perching and lightweight food manipulation, and a larger one for the manipulation of heavy material (>5 kg) of various weights and sizes. Performance assessment shows that these grippers have payloads up to 5.2 kg and 20 kg, respectively. Durability testing of the grippers demonstrates that the grippers have an expected lifetime ranging from 263,000 cycles to more than 700,000 cycles. The grippers are tested in various settings, including the integration of a gripper into a Phantom 2 quadcopter, a perching demonstration, as well as the gripping of light and heavy food items. Experiments show that sleeved bending actuators constitute a promising avenue for durable and strong soft grippers.
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Crooks, Whitney, Shane Rozen-Levy, Barry Trimmer, Chris Rogers, and William Messner. "Passive gripper inspired by Manduca sexta and the Fin Ray® Effect." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141772115. http://dx.doi.org/10.1177/1729881417721155.
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Soft robotic grippers are advantageous for tasks in which a robot comes into close contact with a human, must handle a delicate object, or needs to conform to an object. Most soft robotic grippers, like their hard counterparts, require actuation to maintain a grip on an object. Here, we present a passive, soft robotic gripper that requires power to open and close but not to maintain a grip, which can be problematic in environments with limited energy availability (e.g. solar or battery power). Passive grip, by not requiring power to maintain grip on an object, provides a unique and safe alternative to energy-limited or energy-scarce environments. The Tufts Passive Gripper was inspired by the passive grip of the Manduca sexta and the simplicity of the Fin Ray® Effect. The gripper can be three-dimensional printed as one part on a multimaterial three-dimensional printer and only requires four additional steps to install the motor/tendon actuation mechanism. The gripper was capable of picking up over 40 common household objects, including a tissue, a pen, silverware, a needle, a stapler, a cup, and so on. The maximum load a gripper could hold when oriented perpendicular and parallel to the ground was 530 g (1 lb) and 240 g (0.5 lb), respectively.
Dissertations / Theses on the topic "Soft Gripper"
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Chin, Lillian Tiffany. "A high-deformation electric soft robotic gripper via handed shearing auxetics." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/122696.
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This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Thesis: S.M., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 67-72).
This thesis describes the development of a new class of electrically-driven soft robotic actuators built from handed shearing auxetics (HSAs). Soft robots - robots made out of more compliant materials such as rubber and silicone - are significantly more robust and safer than their rigid-bodied counterparts due to their intrinsic compliance. However, existing soft robots are mostly fluid-driven, causing them to be significantly more energy inefficient, susceptible to puncture and limited in controllability. To address these issues, we use HSAs to create compliant actuators without the inherent issues of pneumatic actuation. Through analysis of planar symmetry groups, we add chirality to shearing auxetic patterns, creating materials that expand with a handed bias when pulled in tension. This new metamaterial design enables us to create new structures that have a strong coupling between twisting and extension, letting us use traditional electric-based motors to get linear motion. In this thesis, we explain the theory behind this new class of auxetics, demonstrate how HSAs can be coupled to form compliant linear actuators, and characterize the actuators' performance in a variety of applications. This work culminates in an electrically driven soft robotic gripper which is significantly smaller, more energy efficient and more puncture resistant than existing pneumatic soft robotic grippers.
"This work was done in the Distributed Robotics Laboratory at MIT with support from The Boeing Company, Amazon, JD, the Toyota Research Institute (TRI), the NASA Space Technology Research Grant NNX13AL38H, and the National Science Foundation - grant numbers EFRI-1240383, IIS-1226883, CCF-1138967, and #1830901. I was personally supported under the National Science Foundation Graduate Research Fellowship grant #1122374, the Paul & Daisy Soros Fellowship for New Americans, and the Fannie and John Hertz Foundation"
by Lillian Tiffany Chin.
S.M.
S.M. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
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Giannaccini, M. E. "Safe and effective physical human-robot interaction : approaches to variable compliance via soft joints and soft grippers." Thesis, University of the West of England, Bristol, 2015. http://eprints.uwe.ac.uk/27224/.
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The work described in this thesis focusses on designing and building two novel physical devices in a robotic arm structure. The arm is intended for human-robot interaction in the domestic assistive robotics area. The first device aims at helping to ensure the safety of the human user. It acts as a mechanical fuse and disconnects the robotic arm link from its motor in case of collision. The device behaves in a rigid manner in normal operational times and in a compliant manner in case of potentially harmful collisions: it relies on a variable compliance. The second device is the end-effector of the robotic arm. It is a novel grasping device that aims at accommodating varying object shapes. This is achieved by the structure of the grasping device that is a soft structure with a compliant and a rigid phase. Its completely soft structure is able to mould to the object's shape in the compliant phase, while the rigid phase allows holding the object in a stable way. In this study, variable compliance is defined as a physical structure's change from a compliant to a rigid behaviour and vice versa. Due to its versatility and effectiveness, variable compliance has become the founding block of the design of the two devices in the robot arm physical structure. The novelty of the employment of variable compliance in this thesis resides in its use in both rigid and soft devices in order to help ensure both safety and adaptable grasping in one integrated physical structure, the robot arm. The safety device has been designed, modelled, produced, tested and physically embedded in the robot arm system. Compared to previous work in this field, the feature described in this thesis' work has a major advantage: its torque threshold can be actively regulated depending on the operational situation. The threshold torque is best described by an exponential curve in the mathematical model while it is best fit by a second order equation in the experimental data. The mismatch is more considerable for high values of threshold torque. However, both curves reflect that threshold torque magnitude increases by increasing the setting of the device. Testing of both the passive decoupling and active threshold torque regulation show that both are successfully obtained. The second novel feature of the robot arm is the soft grasping device inspired by hydrostatic skeletons. Its ability to passively adapts to complex shapes objects, reduces the complexity of the grasping action control. This gripper is low-cost, soft, cable-driven and it features no stiff sections. Its versatility, variable compliance and stable grasp are shown in several experiments. A model of the forward kinematics of the system is derived from observation of its bending behaviour. Variable compliance has shown to be a very relevant principle for the design and implementation of a robotic arm aimed at safely interacting with human users and that can reduce grasp control complexity by passively adapting to the object's shape.
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Song, Sukho. "Soft Robotic Grippers Using Gecko-Inspired Fibrillar Adhesives for Three-Dimensional Surface Grasping." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/936.
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Researches on biological adhesive systems in nature have changed a perspective view on adhesion that it is not only the area of surface chemistry, but also mechanics of interfacial geometry which can significantly effect on fracture strength and load distribution on the contact interface. Various synthetic fibrillar adhesives in previous works have shown enhanced interfacial bond strength with the capacity of adhesion control by exploiting mechanical deformation of the elastomeric fibrillar structures inspired by geckos. However, control of the interfacial load distribution has been focused on the size of micro-contact with single or a few of micro-/nano-fibers on planar surface, and not for a large contact area on complex three-dimensional (3D) surfaces. This thesis work aims at investigating principles of the interfacial load distribution control in multi-scale, ranging from micro-contact with single micro-fiber to a centimeter-scale contact with a membrane-backed micro-fiber array on non-planar 3D surfaces. The findings are also applied for developing a soft robotic gripper capable of grasping a wide range of complex objects in size, shape, and number, expanding the area of practical applications for bio-inspired adhesives in transfer printing, robotic manipulators, and mobile robots. This paper comprises three main works. First, we investigate the effect of tip-shapes on the interfacial load sharing of mushroom-shaped micro-fibrillar adhesives with precisely defined tipgeometries using high resolution 3D nano-fabrication technique. For a large area of non-planar contact interface, we fabricate fibrillar adhesives on a membrane (FAM) by integrating micro-fibers with a soft backing, which enables robust and controllable adhesion on 3D surfaces. Picking and releasing mechanism for the maximal controllability in adhesion are discussed. Finally, we propose a soft robotic architecture which can control the interfacial load distribution for the FAM on 3D surfaces, solving an inherit dilemma between conformability and high fracture strength with the equal load sharing on complex non-planar 3D surfaces.
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Wu, Li-Hsiu, and 吳禮修. "Soft Gripper with a Rigid End Auxiliary." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/n4b8qw.
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碩士淡江大學
電機工程學系機器人工程碩士班
106
In this paper, we propose a soft robot clamping claw mold with modular design using Silicone as the main body with 3D drawing skills and 3D printer. The clamping device consists of a rigid front base and a soft robotic clamping claw. The design of the appearance mold is simple and easy to disassemble and install. In the process of assembly,screws are not required to assemble the mold. The design of clamping claw is to make use of the softness of clamping claw and the deformability of grab object throughexperiments. In the front part of the soft gripper through the experiment of again and again, we simulate the part of human hands, and let the soft gripper improved grab planarity items can have more sufficient grab material fetching up the item. The results of the experiment show that compared with the non-finger-like soft robot clamping claws, the finger-like soft robot clamping claws can be more easily grasped when grasping flat objects.
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Santos, João Guilherme Alves dos. "Bio-inspired robotic gripper with hydrogel-silicone soft skin and 3d printed endoskeleton." Master's thesis, 2017. http://hdl.handle.net/10316/82840.
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Trabalho de Projeto do Mestrado Integrado em Engenharia Física apresentado à Faculdade de Ciências e TecnologiaNeste projeto, desenvolve-se um dedo inovador e inspirado biologicamente, com fisiologia semelhante à de um dedo humano. O dedo "soft" é feito com um núcleo impresso em 3D para substituir o endoesqueleto dos dedos humanos, com uma pele elástica de silicone para substituir a camada epidérmica elástica e resiliente e um enchimento de hidrogel para substituir a camada dérmica. No dedo humano, a camada dérmica é mais macia do que a camada epidérmica e contém uma quantidade considerável de água, portanto, deve ser protegida pela camada epidérmica, que é mais resistente. Esta não só protege a camada subjacente do desgaste mecânico, mas também fornece uma barreira contra a perda de água. Por outro lado, a camada dérmica, ao ser mais suave, ajuda numa melhor adaptação local da pele para agarrar os objectos eficientemente. A camada epidérmica de silicone destina-se a ser elástica, maleável e protege o hidrogel de maneira que este não perca água ao longo do tempo. O enchimento de hidrogel do dedo é feito de poliacrilato de sódio e água destilada; o material utilizado como silicone é Ecoflex 00-30 e o endoesqueleto do dedo é feito de acrilonitrilo butadina estireno (ABS).Também foi desenvolvido um protótipo de baixo custo de uma pinça sub-atuada integrando três destes dedos. Tem um mecanismo baseado nos "push base toys" e foi inteiramente impresso numa impressora "fusion deposition modelling" (FDM) com material ácido poliláctico (PLA). Um único motor acciona o sistema puxando para cima e para baixo os tendões que estão integrados nos dedos, forçando-os abrir ou fechar, com o propósito de agarrar ou soltar objetos.Os dedos foram primeiramente testados individualmente. A força necessária para a flexão total dos dedos foi medida e comparada com uma versão anterior do dedo que contém apenas a camada epidérmica sem a camada dérmica de hidrogel. Os resultados mostram uma melhora na redução da força necessária para a flexão. Também a pinça integrada com a nova versão dos dedos foi desenvolvida e testada para agarrar vários objectos incluindo frutas macias.No final da dissertação, alguns ensaios de \textit{pick and place} são analisados e é concluído que foi conseguido um dedo "soft" óptimo que pode ser usado em pinças e próteses. Apesar do seu excelente desempenho, o preço geral dos materias usados para a pinça robótica desenvolvida nesta dissertação é de 15 Euros, incluindo o actuador. Também é apresentado trabalho futuro tanto para a pinça como para o dedo "soft".
On this project, an innovative and bio-inspired finger is developed, resembling the physiology of a biological human finger. The soft finger is made of a 3D-printed core to substitute the fingers’ endoskeleton, a silicon elastomer skin to substitute the elastic and resilient epidermal layer and a hydrogel filling to substitute the dermal layer. The dermal layer in human finger is softer than the epidermal layer and contains a considerable amount of water, and therefore should be protected by the more resilient epidermal layer, that not only protects the underlying layer from mechanical wear, but it also provides a barrier against losing the water. On the other hand, the softer dermal layer helps in better local adaptation of the skin to objects for efficient grasping. The silicone epidermal layer is intended to be elastic, malleable and protects the hydrogel from losing water over the time. The hydrogel filling of the finger is made from sodium polyacrylate (SPA) and distilled water; the material used as the silicone is Ecoflex 00-30 and the finger core is made of acrylonitrile butadine styrene (ABS).A low-cost prototype of an under-actuated gripper was also developed integrating three of these fingers. It has a mechanism based on the push base toys and it was fully printed on a fusion deposition modelling (FDM) printed with polylactic acid material (PLA). A single motor actuates the system by pulling up and down the tendons that are integrated in the fingers, making them open or close, in order to grip or drop objects.Fingers were tested first individually.The required force for full flexion of the fingers were measured and compared to a previous version of the finger that contains only the epidermal layer without containing the hydrogel dermal layer. Results show an improvement in reduction of the required force for flexion. Also the integrated gripper with the new version of the fingers were developed and tested for grasping several objects including soft fruits.At the end of the dissertation, some gripping tests are analysed and concluding that was achieved an optimal soft finger that can be used in grippers and prosthesis. Despite its excellent performance, the overall bill of materials of the full gripper developed in this dissertation is 15 Euros, including the actuator. Also future work is presented both for the gripper and the soft finger.
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Liu, Yi-Chung, and 劉一忠. "Design and Control of Six-Degree-of-Freedom Automatic Sorting Robot Using Binocular Vision and Soft Robotic Gripper." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/tnxqa2.
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碩士龍華科技大學
電機工程系碩士班
107
The present study established a six-degrees-of-freedom (6-DOF) robotic arm equipped with binocular vision and an adaptive gripper. The arm can be employed to sort and stack products in the modern manufacturing industry. Regarding the machine configuration, in response to the Industry 4.0 demands for low quantity, great variety, and flexible machining, the humanoid robotic arm established in this study has a merchant binocular vision system, a self-developed adaptive gripper that can grip items of different shapes, and a 6-DOF humanoid robotic arm developed in the laboratory. With respect to system analysis, the DH method was employed to establish forward and inverse kinematic models of the arm joints and end points. The scientific computing software MATLAB was used to verify the forward and inverse kinematics and simulate the working space of the robotic arm. For system control, industrial PCs and ethernet for control automation technology are employed. The visual programming software LabVIEW was used to develop image recognition and motor controlling programs for achieving integrated control of the binocular vision and 6-DOF robotic arm. In addition to meeting the low-quantity and great-variety demands of flexible manufacture in Industry 4.0, the system established in this study resolves the problems of complex cable configurations and the lack of depth perception of conventional robotic arms due to their monocular vision. The experiment results revealed that the 6-DOF automatic sorting robotic arm is capable of identifying the coordinates of objects using its binocular vision system and can automatically complete sorting and stacking tasks according to the shape of each object by using the robotic arm and adaptive gripper.
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Menezes, José Rodrigo Bettencourt Gouveia. "Flexible Robot Grasping Tools Controlled by EMG Signals." Master's thesis, 2017. http://hdl.handle.net/10316/83235.
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Dissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e TecnologiaCada vez mais os robôs assumem uma posição fundamental na nossa sociedade, principalmente no sector industrial, dos quais destacam os braços robóticos, que possibilitam a execução de uma enorme variedade de tarefas.A correta manipulação dos objetos requer uma pega de boa qualidade logo, a evolução da garra robótica deve acompanhar a evolução do braço robótico. A abordagem tradicional reside em duas opções completamente diferentes, sendo a primeira o uso de garras convencionais que demonstram ser muito sensíveis a variações de posição e/ou orientação. Quanto à segunda, configura uma solução bem mais complexa (mãos robóticas antropomórficas), que garante um funcionamento quase perfeito, mas que tem como desvantagens um preço muito elevado e uma maior dificuldade de controlo. A designação de soft robotics surge como intermédio das opções anteriores e poderá representar o futuro em quase todas as áreas da robótica, particularmente nas garras robóticas. Estes instrumentos de manipulação, normalmente baseados em estruturas biológicas, assumem boas qualidades físicas e uma enorme capacidade adaptativa.O objetivo deste projeto é produzir uma garra robótica pelo princípio da Hybrid Deposition Manufacturing (HDM). O núcleo rígido, produzido numa impressora 3D, assume a responsabilidade estrutural, enquanto um composto polimérico proporciona a conformidade e a aderência necessária à garra robótica. Estas características asseguram as condições perfeitas de manipulação. Apesar de utilizar apenas um motor, as juntas flexíveis dos dedos agem de forma independente, gerando um bom desempenho na pega de diferentes objetos (forma, tamanho e orientação). Isto é possível pois o número de graus de atuação é muito inferior ao número de graus de liberdade da mão, onde apenas são dados os comandos para abrir e fechar. Para aumentar a qualidade da garra robótica e assegurar uma manipulação mais efetiva, foi utilizada uma câmera e um sensor ultrassónico (colocados nas laterais da mão), os quais são controlados a partir de um Raspberry Pi 3.Atualmente, o controlo de movimentos robotizados é executado por longas linhas de código, mas quando o local onde o robô opera é composto por pessoas com baixos conhecimentos de programação, é essencial procurar maneiras mais intuitivas de o fazer.A garra robótica resultante deste projeto é controlada através de um dispositivo de eletromiografia (EMG), convertendo os movimentos musculares em sinais digitais. Cada gesto tem um significado específico, gerando uma resposta específica, o que facilita o controlo do robô, melhorando a interação homem-máquina. Desta forma, torna-se possível o controlo de robôs por pessoas sem conhecimentos de programação.
Nowadays, the robots assume a fundamental position in our society, and even a major one when talking about the industry sector. The most common robots are the robotic arms which can execute an enormous variety of tasks. A correct manipulation of objects requires fine grasping capabilities so the evolving of the gripper should be parallel to the evolving of the robotic arm. The traditional approach resides in two completely different options, being the first one the use of conventional parallel grippers which demonstrate to be very sensitive to position and/or orientation variations. The second one consists of a solution much more complex (anthropomorphic robotic hands), which guarantees an almost perfect operation, having as disadvantage a higher price and a greater difficulty of control.Soft robotics emerges in the middle of these two options and will probably represent the future in almost all areas of robotics, particularly in robotic grippers. These manipulation tools, usually based on biological structures, assume good physical qualities and an enormous adaptive capacity. This project consists of a production of a flexible robotic gripper produced by the hybrid deposition manufacturing (HDM) principle. The hard core, built on a 3D-printer assumes the structural responsibility while a polymeric compost gives to the hand the compliance and the grip required to assure perfect manipulation conditions. Despite the fact of using only one motor, the flexural joints act independently generating a good performance when grabbing different objects (shape, size and orientation). This happens due to the fact that we are operating an under-actuated hand where the only thing controlled is the opening/ closing mechanism.In order to increase the quality of the gripper and to assure a more effective manipulation, it will be used a camera and an ultrasonic sensor (disposed on the hand laterals), which are controlled by a Raspberry Pi 3.Currently, controlling robotic motion is resumed by long lists of code but when the robot environment is composed by people with no coding knowledge, it is essential to search for more intuitive ways of doing it. The robotic gripper built on this project is controlled using an electromyography (EMG) device, converting the muscular movements into digital signals. Each gesture has a specific meaning, generating a specific response, which improves human-machine interaction (HMI). In this way, it becomes possible the control of robots by people without programming knowledge.
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"Design, Modeling, and Evaluation of Soft Poly-Limbs: Toward a New Paradigm of Wearable Continuum Robotic Manipulation for Daily Living Tasks." Doctoral diss., 2020. http://hdl.handle.net/2286/R.I.62646.
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abstract: The term Poly-Limb stems from the rare birth defect syndrome, called Polymelia. Although Poly-Limbs in nature have often been nonfunctional, humans have had the fascination of functional Poly-Limbs. Science fiction has led us to believe that having Poly-Limbs leads to augmented manipulation abilities and higher work efficiency. To bring this to life however, requires a synergistic combination between robot manipulation and wearable robotics. Where traditional robots feature precision and speed in constrained environments, the emerging field of soft robotics feature robots that are inherently compliant, lightweight, and cost effective. These features highlight the applicability of soft robotic systems to design personal, collaborative, and wearable systems such as the Soft Poly-Limb.
This dissertation presents the design and development of three actuator classes, made from various soft materials, such as elastomers and fabrics. These materials are initially studied and characterized, leading to actuators capable of various motion capabilities, like bending, twisting, extending, and contracting. These actuators are modeled and optimized, using computational models, in order to achieve the desired articulation and payload capabilities. Using these soft actuators, modular integrated designs are created for functional tasks that require larger degrees of freedom. This work focuses on the development, modeling, and evaluation of these soft robot prototypes.
In the first steps to understand whether humans have the capability of collaborating with a wearable Soft Poly-Limb, multiple versions of the Soft Poly-Limb are developed for assisting daily living tasks. The system is evaluated not only for performance, but also for safety, customizability, and modularity. Efforts were also made to monitor the position and orientation of the Soft Poly-Limbs components through embedded soft sensors and first steps were taken in developing self-powered compo-nents to bring the system out into the world. This work has pushed the boundaries of developing high powered-to-weight soft manipulators that can interact side-by-side with a human user and builds the foundation upon which researchers can investigate whether the brain can support additional limbs and whether these systems can truly allow users to augment their manipulation capabilities to improve their daily lives.Dissertation/Thesis
Doctoral Dissertation Systems Engineering 2020
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WANG, WEI-XIANG, and 王韋翔. "3D Printing of Soft Robotic Grippers with Telescopic Rods and Application of Mobility Assistance." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/w7vhuz.
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碩士國立高雄科技大學
機械工程系
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Many disabled people caused by accidents walk on crutches in daily lives. However, the commercially available crutches only provide such a simple function of mobile assistance, and therefore some improvement is possible. In this study, an electric telescopic rod embedded with a soft gripper is designed that extends the conventional one with additional ability of object capture. The soft gripper can capture the object robustly by more contact area. The geometric design of the grippers includes a linear type, a negative-curvature type, and a positive-curvature type. The finger number of the grippers is varied from 2 to 4. The major mechanical parts such as the rod and fingers are made by 3D printing to reduce development cost of with high complexity of design. The cost of the telescopic rod, which was 88 centimeters long with 523 grams of weight, was NT$2578. We use the microelectronic controller of Arduino Pro Mini to perform gripping objects by driving a stepper motor installed in the telescopic rod. One motion sensor and four tactile sensors mounted on the gripper are used for measurement of the gripping stability in action and motion. The performance for the grippers with different geometries and finger number are analyzed, compared, and discussed for optimal design. From the experimental results, Negative-curvature type clips have the smallest deflection, both within 5°, and the clamping force is the most stable. The negative-curvature type standard deviation was 1.37g among the three grippers, so the negative-curvature type was best for picking up items.
Books on the topic "Soft Gripper"
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Reconnaître les controverses de l'hésitation vaccinale. EDP Sciences, 2022. http://dx.doi.org/10.1051/978-2-7598-2766-4.
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Ce livret a pour objectif de présenter les controverses et les débats à l'œuvre dans l'hésitation vaccinale pour favoriser la construction d'une opinion raisonnée critique, nuancée et argumentée sur cette question socialement vive. Pour l'essentiel, il reprend l'un des premiers enseignements numériques mis à grande échelle en 2020 sur les « Enjeux de la transition écologique » auprès de plusieurs milliers d'étudiants de licence de toutes disciplines de l'Université Paris-Saclay. La première partie traite d'aspects généraux relatifs aux vaccins : en quoi ils sont cohérents, ce qu'ils contiennent, comment ils sont conçus et choisis. La deuxième partie porte sur le contexte français de trois maladies évitables par la vaccination : la rougeole, l'hépatite B et les cancers dus aux papillomavirus humains, dont les vaccins (l'un recommandé, les deux autres obligatoires) sont controversés. La troisième partie est favorisée sur le nouveau concept d'hésitation vaccinale, avec ses causes, ses conséquences et ses arguments. Bien sûr, de nombreux autres vaccins suscitant une hésitation sont retenus comme celui de la grippe de 2009 et l'actualité à propos de la pandémie de la COVID-19 n'a pas été ignorée.
Book chapters on the topic "Soft Gripper"
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Vidwath, S. M. G., P. Rohith, R. Dikshithaa, N. Nrusimha Suraj, Rajeevlochana G. Chittawadigi, and Manohar Sambandham. "Soft Robotic Gripper for Agricultural Harvesting." In Lecture Notes in Mechanical Engineering, 1347–53. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-0550-5_128.
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Lumia, Ron. "A Microrobotic Gripper and Force Sensor." In Advances in Intelligent and Soft Computing, 1–8. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-28314-7_1.
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Fraś, Jan, Mateusz Maciaś, Filip Czubaczyński, Paweł Sałek, and Jakub Główka. "Soft Flexible Gripper Design, Characterization and Application." In Recent Advances in Systems, Control and Information Technology, 368–77. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-48923-0_40.
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Manti, Mariangela, Taimoor Hassan, Giovanni Passetti, Nicolò d’Elia, Matteo Cianchetti, and Cecilia Laschi. "An Under-Actuated and Adaptable Soft Robotic Gripper." In Biomimetic and Biohybrid Systems, 64–74. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-22979-9_6.
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Yi, Zhou, Kaiwei Ma, Yang Sen, and Fengyu Xu. "Hysteresis Modeling and Compensation Control of Soft Gripper." In Intelligent Robotics and Applications, 241–52. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-89095-7_24.
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Achilli, Gabriele Maria, Silvia Logozzo, Maria Cristina Valigi, Gionata Salvietti, Domenico Prattichizzo, and Monica Malvezzi. "Underactuated Soft Gripper for Helping Humans in Harmful Works." In Proceedings of I4SDG Workshop 2021, 264–72. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-87383-7_29.
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Bhattacharya, Srijan, Pranjal Tiwary, Adil Shayaque, Bikash Bepari, and Subhasis Bhaumik. "Anticipation of Actuation Properties of IPMC for Soft Robotic Gripper." In Lecture Notes in Electrical Engineering, 405–16. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-15-0829-5_40.
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Kirchgeorg, Steffen, Bram Benist, and Stefano Mintchev. "Soft Gripper with Adjustable Microspines for Adhering to Tree Branches." In Robotics in Natural Settings, 61–74. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-15226-9_9.
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Agarwal, Ayush, Ankit Baranwal, G. Stephen Sugun, and Prabhat K. Agnihotri. "Design and Fabrication of a Bio-inspired Soft Robotic Gripper." In Lecture Notes in Mechanical Engineering, 1105–11. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-16-0550-5_105.
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Lin, Po Ting, Ebrahim Shahabi, Kai-An Yang, Yu-Ta Yao, and Chin-Hsing Kuo. "Parametrically Modeled DH Table for Soft Robot Kinematics: Case Study for A Soft Gripper." In Advances in Mechanism and Machine Science, 617–25. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-20131-9_62.
Full textConference papers on the topic "Soft Gripper"
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Grammar, Alex W., and Robert L. Williams. "Design of a Robotic Gripper Based on a Psittacus Erithacu Beak." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70244.
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A high versatility, low degrees-of-freedom (DOF) gripper was designed based on avian morphology. Grasping mechanisms for robotic manipulators are often developed for application-specific tasks, such as manipulating a single part or performing a repetitive action. In contrast, more dexterous grippers are complex, multiple-DOF mechanisms. A simple, minimal-DOF, versatile gripper has been developed based on the morphology of the Psittacus Erithacu (African Grey Parrot) beak shape. This species is highly intelligent and uses its beak for digging, gripping, climbing, and foraging. Giving a robot a similar capability would allow the platform to pick up targets such as single, small seeds, liquids, large irregular rocks and soft Robocup style balls. By using the beak as a model for a grasping mechanism the design maintains its versatility without the need for a complex system and allows a large range of targets to be gripped. This gripper is intended for use in the new open-source humanoid robot DARwIn-OP.
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Gutierrez, Rafael Barreto, Martin Garcia, Joan McDuffie, Courtney Long, and Ayse Tekes. "Development of Wire Actuated Monolithic Soft Gripper Positioned by Robot Manipulator." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3198.
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Abstract This paper presents the design and development of a two fingered, monolithically designed compliant gripper mounted on a two-link robot. Rigid grippers traditionally designed by rigid links and joints might have low precision due to friction and backlash. The proposed gripper is designed as a single piece compliant mechanism consisted of several flexible links and actuated by wire through a servo motor. The gripper is attached to a two-link arm robot driven by three step motors. An additional servo motor can also rotate the base of the robot. While the robot is 3D printed using polylactic acid (PLA), the gripper is 3D printed in thermoplasticpolyurethane (TPU). Two force sensors are attached to the right and left ends of the gripper to measure grasping force. Experimental testing for grasping various objects having different sizes, shapes and weights is carried out to verify the robust performance of the proposed design. Through the experimentation, it’s been noted that the compliant gripper can successfully lift up objects at a maximum mass of 200 g and have a better performance if the objects’width is closer to the width of the gripper. The presented mechanism can be utilized as a service robot for elderly people to assist them pick and place objects or lift objects if equipped with necessary sensors.
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Tahir, Ahmad M., Matteo Zoppi, and Giovanna A. Naselli. "PASCAV Gripper: a Pneumatically Actuated Soft Cubical Vacuum Gripper." In 2018 4th International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2018). IEEE, 2018. http://dx.doi.org/10.1109/remar.2018.8449863.
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Nielsen, Stig Anton, and Alexandru Dancu. "Embodied computation in soft gripper." In HRI'14: ACM/IEEE International Conference on Human-Robot Interaction. New York, NY, USA: ACM, 2014. http://dx.doi.org/10.1145/2559636.2563691.
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Davies, James, Phuoc Thien Phan, Diana Huang, Trung Thien Hoang, Harrison Low, Mai Thanh Thai, Chi Cong Nguyen, Emanuele Nicotra, Nigel H. Lovell, and Thanh Nho Do. "Hydraulically Actuated Soft Tubular Gripper." In 2022 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2022. http://dx.doi.org/10.1109/icra46639.2022.9811983.
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Pedro, P., C. Ananda, P. B. Rafael, A. R. Carlos, and B. C. Alexandre. "Closed structure soft robotic gripper." In 2018 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2018. http://dx.doi.org/10.1109/robosoft.2018.8404898.
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Cooke, Ian, Brendon DeClerck, Jesse Hallett, Tyler Miller, Alexis Mitchell, and Reza Rashidi. "A Magnetic and Shape Memory Alloy Actuated Gripper for Surgical Applications." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10791.
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Abstract This paper presents the development of a novel shape memory alloy (SMA) actuated gripper for use in the biomedical applications. The use of SMA in surgical forceps can allow a surgical robot to accurately and repeatedly apply a force and grip small objects or perform minor surgeries that are less invasive and allow for quicker recovery times. Current designs of thermally actuated grippers use SMAs as the gripping parts, which limits their application due to the transfer of heat to the object being gripped. The design of the gripper illustrated in this paper isolates the SMA coil from the gripping jaws to maintain a constant surface temperature at the gripping end and prevent thermal contamination of soft tissues. Isolating the SMA from the grippers also simplifies automated surgical robots by centralizing all heating elements. A magnetic field exerted between a pair of permanent magnets is used to restore the SMA coil upon cooling. The gripper housing and jaws were fabricated using a 3-D printer to allow for modeling of small features with little down time. A Nitinol SMA wire with a transition temperature of 45°C was wrapped into a 2.5mm diameter coil and heat treated to set the predefined shape. The SMA coil and other parts were assembled to form the gripper. The gripper was successfully tested using an Interlink Electronics Force Sensor and data acquisition card (DAQ), and the forces between the gripper jaws as well as the response time to close and open the jaws were recorded. The gripper produced a force of 0.9N when reaching the transition temperature. The response time for the gripper to close and open the jaws was measured to be approximately 0.16 s and 0.12 s, respectively. It was found that the magnetic field had a faster actuation on the coil than the shape memory alloy force during opening and closing jaws.
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Gao, Yuan, Xiguang Huang, Ishan Singh Mann, and Hai-Jun Su. "A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-98294.
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Abstract In this paper, we present a novel compliant robotic gripper with three variable stiffness fingers. While the shape morphing of the grippers is cable-driven, the stiffness variation is enabled by layer jamming. The inherent flexibility makes compliant grippers suitable for tasks such as grasping soft and irregular objects. However, their relatively low load capacity due to low structural stiffness limits their applications. Variable stiffness robotic grippers have the potential to address this challenge as their stiffness can be tuned on demand based on the needs of tasks. Layer jamming is an emerging method for variable stiffness due to its advantages of light weight, simple and quick actuation. In our design, the compliant backbone of the fingers is made of 3d printed PLA material. Four thin film materials are attached to each side of the skeleton. The working process of the robotic gripper follows two basic steps. First, the compliant skeleton is bent to a desired shape by actuating a tension cable via a servo motor. Second, upon application of a negative pressure by a vacuum pump, the finger is stiffened up owing to the increasing of the friction between contact surfaces of layers preventing their relative movement. Since the structural stiffness of the fingers is increased, their load capacity will be increased proportionally. When the air pressure is sufficiently large, the morphed shape can even be locked (no slipping). Test for stiffness of individual finger and load capacity of the robotic gripper are conducted to validate capability of the design. The results showed a 69-fold increase in stiffness of individual finger and a 30-fold increase in gripper’s load capacity.
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Gafer, A., D. Heymans, D. Prattichizzo, and G. Salvietti. "The Quad-Spatula Gripper: A Novel Soft-Rigid Gripper for Food Handling." In 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2020. http://dx.doi.org/10.1109/robosoft48309.2020.9115968.
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Xu, Zefeng, Linkai Hu, and Yitong Zhou. "A soft gripper integrated with mechanically-prestressed soft actuators." In 2022 IEEE International Conference on Sensing, Diagnostics, Prognostics, and Control ( SDPC). IEEE, 2022. http://dx.doi.org/10.1109/sdpc55702.2022.9915943.
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