Grasping with a tube-feet inspired soft gripper

Jittungboonya, Pasit; Maneewarn, Thavida

doi:10.1109/ica-symp.2019.8646007

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…When compared to other pneumatic actuators using pressure or vacuum pumps (Jittungboonya and Maneewarn, 2019;Zhu et al, 2019), the amount of working airflow for the pneumatic actuator is limited by the tendon-driven origami pump. The working airflow is related to the volume change of the origami pump, meaning it depends on the h of the pump.…”

Section: Height and Pressure Relationmentioning

confidence: 99%

“…They can perform various tasks in several unpredictable situations (Hughes et al, 2016). In contrast to conventional manipulators with a rigid body (Butterfaß et al, 2001;Wojtara et al, 2005), soft manipulators are actuated by various methods, such as hydraulic (Mitchell et al, 2019;Park et al, 2020) and pneumatic (Deimel and Brock, 2016;Jittungboonya and Maneewarn, 2019), and smart materials, such as ionic polymer metal composite (IPMC) (Carrico and Leang, 2017;Bhattacharya et al, 2019;Roy et al, 2019), shape memory alloy (SMA) (Rodrigue et al, 2017;, and electroactive polymer (Kofod et al, 2007;Taghavi et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

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Soft Pneumatic Gripper With a Tendon-Driven Soft Origami Pump

Kim

Cha

2020

Front. Bioeng. Biotechnol.

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In this study, we propose a soft pneumatic gripper that uses a tendon-driven soft origami pump. The gripper consists of three pneumatic soft actuators that are controlled by a tendon-driven origami pump. An external air compressor that supplies air to the pneumatic actuator is replaced by an origami pump. The soft actuator is composed of silicone (Ecoflex 00-30) with a chamber-based structure, which is fabricated using a mold, and the origami pump is fabricated by folding a Kresling patterned polypropylene film. In addition, we conduct a series of experiments to evaluate the performance of the pneumatic actuator with a tendon-driven origami pump. Specifically, movement characteristics, frequency response, blocking force, and the relation between bending angle and pressure are analyzed from the results of the experiments. Furthermore, we understand the entire operation mechanism from the deformation of the origami pump to bending through pressure. Finally, we demonstrate the grasping of objects with diverse shapes and materials, and indicate the feasibility of the pneumatic gripper as an independent module without an external compressor.

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Section: Height and Pressure Relationmentioning

confidence: 99%