Closed structure soft robotic gripper

Pedró, Pere Massanés; Ananda, CM; Rafael, Pablo; Carlos, Antônio; Alexandre, Bergel

doi:10.1109/robosoft.2018.8404898

Cited by 10 publications

(7 citation statements)

References 17 publications

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“…Currently, rigid contact grippers [6], soft robotic grippers [7], and air with suction cups [8] are designed to be used in the food industry for pick and place tasks. Rigid grippers have the advantages of high precision control with the ease of integrating tactile, position, and torque sensors [9].…”

Section: Introductionmentioning

confidence: 99%

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

Abad

et al. 2020

IEEE Robot. Autom. Lett.

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Soft fingertips have shown significant adaptability for grasping a wide range of object shapes thanks to elasticity. This ability can be enhanced to grasp soft, delicate objects by adding touch sensing. However, in these cases, the complete restraint and robustness of the grasps have proved to be challenging, as the exertion of additional forces on the fragile object can result in damage. This paper presents a novel soft fingertip design for delicate objects based on the concept of embedded air cavities, which allow the dual ability of tactile sensing and active shapechanging. The pressurized air cavities act as soft tactile sensors to control gripper position from internal pressure variation; and active fingertip deformation is achieved by applying positive pressure to these cavities, which then enable a delicate object to be kept securely in position, despite externally applied forces, by form closure. We demonstrate this improved grasping capability by comparing the displacement of grasped delicate objects exposed to high-speed motions. Results show that passive soft fingertips fail to restrain fragile objects at accelerations as low as 0.1 m/s 2 , in contrast, with the proposed fingertips delicate objects are completely secure even at accelerations of more than 5 m/s 2 .

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Section: Introductionmentioning

confidence: 99%

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

Abad

et al. 2020

IEEE Robot. Autom. Lett.

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“…Pedro et al have developed a sea lamprey-like soft gripper that has a closed structure. Force of the gripper has been controlled and measured [9]. Jeffrey et al have manufactured a soft gripper which is made of a flexible latex membrane sealed volume chamber.…”

Section: Introductionmentioning

confidence: 99%

“…The above-mentioned research has greatly contributed to the development of novel robotic gripper research. Most of them have novel structures without finger-like actuators which have been typically in robotic gripper [5], [6], [9]- [12]. On the other hand, for novel gripper with fingers, their fingers are typically made of novel materials [4], [7], [8], [13]- [15].…”

Section: Introductionmentioning

confidence: 99%

A Thermoplastic Elastomer Belt Based Robotic Gripper

Zheng,

Hou,

Dinjens

et al. 2020

Preprint

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Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made fingers, novel robotic grippers are typically made of novel structures and materials, using a novel manufacturing process. In this paper, a novel robotic gripper with external frame and internal thermoplastic elastomer belt-made net is proposed. The gripper grasps objects using the friction between the net and objects. It has the ability of adaptive gripping through flexible contact surface. Stress simulation has been used to explore the regularity between the normal stress on the net and the deformation of the net. Experiments are conducted on a variety of objects to measure the force needed to reliably grip and hold the object. Test results show that the gripper can successfully grip objects with varying shape, dimensions, and textures. It is promising that the gripper can be used for grasping fragile objects in the industry or out in the field, and also grasping the marine organisms without hurting them.

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“…To address these practical concerns, the air-driven, soft gripper described in this paper is comprised of three modular hyperelastic polydimethylsiloxane (PDMS) actuators inserted in a closed ring assembly (Figure 1). Various soft, air-driven actuators have been reported in the literature, and they are based on several complementary operating principles [2][3][4][5][6][7][8][9][10]. One of the simplest and earliest actuators is the Pneumatic Artificial Muscle (PAM), where a closed inflatable membrane is inflated with pressurized air to generate a linear and unidirectional axial force [5].…”

Section: Introductionmentioning

confidence: 99%

“…While a similar closed monolithic design inspired by the mouth of a sea lamprey has been described in the literature [10], the individual actuators proposed in this work have a scalable modular structure that enable multiple discrete units to be inserted in the gripper assembly or attached to the tips of discrete robotic fingers for controlled "soft touch" applications. To reduce the complexity and ensure that specific design parameters can be directly related to actuator While a similar closed monolithic design inspired by the mouth of a sea lamprey has been described in the literature [10], the individual actuators proposed in this work have a scalable modular structure that enable multiple discrete units to be inserted in the gripper assembly or attached to the tips of discrete robotic fingers for controlled "soft touch" applications. To reduce the complexity and ensure that specific design parameters can be directly related to actuator displacement, only a single deformable surface or wall of the elastomeric air chamber is allowed to make contact with the target object.…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Hyperelastic Actuators for Grasping Curved Organic Objects

2019

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Soft robotic grippers often incorporate pneumatically-driven actuators that can elastically deform to grasp delicate, curved organic objects with minimal surface damage. The complexity of the actuator geometry and the nonlinear stress–strain behavior of the stretchable material during inflation make it difficult to predict actuator performance prior to prototype fabrication. In this work, a scalable modular elastic air-driven actuator made from polydimethylsiloxane (PDMS) is developed for a mechanically compliant robotic gripper that grasps individual horticultural plants and fungi during automated harvesting. The key geometric design parameters include the expandable surface area and wall thickness of the deformable structure used to make contact with the target object. The impact of these parameters on actuator displacement is initially explored through simulation using the Mooney–Rivlin model of hyperelastic materials. In addition, several actuator prototypes with varying expandable wall thicknesses are fabricated using a multistep soft-lithography molding process and are inserted in a closed ring assembly for experimental testing. The gripper performance is evaluated in terms of contact force, contact area with the target, and maximum payload before slippage. The viability of the gripper with PDMS actuators for horticultural harvesting applications is illustrated by gently grasping a variety of mushroom caps.

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Closed structure soft robotic gripper

Cited by 10 publications

References 17 publications

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

A Thermoplastic Elastomer Belt Based Robotic Gripper

Pneumatic Hyperelastic Actuators for Grasping Curved Organic Objects

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