A Double-jaw Hand that Mimics A Mouth of the Moray Eel

Triyonoputro, Joshua C.; Wan, Weiwei; Akanesuvan, Kantapon; Harada, Kensuke

doi:10.1109/robio.2018.8665315

Cited by 3 publications

(2 citation statements)

References 18 publications

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“…Moreover, a three-linkage gripper, outlined in [ 114 ], emerged from the collaboration of two rigid fingers, each equipped with three phalanges and operating with a single DoF. Drawing inspiration from the eel jaw, the gripper presented in [ 115 ] comprised two rigid fingers, each possessing three linkages. This configuration ensured that the fingertips maintained parallel movement in relation to each other, enhancing their grasping capability.…”

Section: Animal-inspired Grippersmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

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The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature’s genius but also significantly enrich various domains through their versatility.

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Section: Animal-inspired Grippersmentioning

confidence: 99%

Bioinspiration and Biomimetic Art in Robotic Grippers

Nguyen,

Dhyan,

Mai

et al. 2023

Micromachines

View full text Add to dashboard Cite

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“…The advantage of this system overall appears especially when large prey is the target. In [ 23 ], Triyonoputro et al designed and manufactured a double-jaw hand mechanism that mimicked the functionality of the moray eel jaw system. They imitated three motions of the mobile pharyngeal jaw: opening and moving forward, biting the prey, and pulling the prey with the double jaw and with their outer and inner gripper design.…”

Section: Introductionmentioning

confidence: 99%

Utilization of Function Generation Synthesis on Biomimetics: A Case Study on Moray Eel Double Jaw Design

et al. 2022

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Throughout history, humans have observed living or non-living things in nature and then imitated them in relation to these observations. This is due to the fact that the energy found in nature is generally consumed at an optimal level in order for it to endure. Biomimetic inspiration in many designs and applications is widely displayed, including within the field of engineering. In this paper, we were inspired by the double set of jaws found in the moray eel, which gives this fish a huge advantage while hunting, with a mobile pharyngeal jaw that works together with its oral jaw in order to overcome ineffective suction capabilities. A procedure that mimics the hunting motion of the moray eel was utilized by considering the overall movement as a single degree of freedom with multiple outputs on account of the repeating motion that is required during hunting. This procedure includes structural and dimensioning synthesis, wherein the latter was utilized with analytic kinematic synthesis for each linkage transfer. The flexibilities in parameters were taken into account with a novel multiple iterative kinematic synthesis algorithm that resulted in various mechanisms with the same purpose. Among the excessive number of resultant mechanisms, the optimization was carried out by considering the highest torque transmission ratio at critical timings that were specified as bio-constraints. In the end, the kinematic movement validation was utilized.

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