Universal soft pneumatic robotic gripper with variable effective length

Hao, Yufei; Gong, Zizheng; Xie, Zhexin; Guan, Shaopeng; Yang, Xingbang; Ren, Ziyu; Wang, Tianmiao; Wen, Li

doi:10.1109/chicc.2016.7554316

Cited by 149 publications

(91 citation statements)

References 27 publications

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“…The molds for the finger were designed in SolidWorks (Dassault Systemes, France) and 3D printed with PLA (polylactic acid) using a desktop 3D printer (MakerBot Replicator 2, MakerBot Inc., USA), which allows us to iterate rapidly [27]. The wall thickness of the rubber inner bladder is 2 mm.…”

Section: B Design and Fabrication Of The Soft Robotic Fingermentioning

confidence: 99%

Fiber-reinforced soft robotic anthropomorphic finger

Wang

Gong

Hao

et al. 2016

2016 International Conference on Robotics and Automation Engineering (ICRAE)

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Figure 1. (a) Bending motion of the soft robotic finger under three different pressure (0 kPa, 90kPa and 180 kPa). Pair indicates the air pressure in the inner chamber. (b) Bending motion of a human finger.Abstract-Robotic fingers have attracted considerable attentions of researchers from multidisciplinary fields. Most of the existing devices apply rigid components such as springs, joints, gears etc., to achieve the locomotor performance of the human finger. However, high-cost, complexity hold back their practical application. Meanwhile, the material properties of these rigid components are significantly different from the biological tissues to bring in considerable risk and difficulty in human-robot interaction. In this paper, a novel soft robotic anthropomorphic finger was presented, which was purely made of low cost soft hyperelastic materials (around 1.5 dollars) and was pneumatically actuated. The morphology of the robotic finger was a replica of an adult-human finger. The chambers, fiber orientation and the skin layers were designed in concert therefore to achieve human finger-like movement. The kinematic and dynamic model of the soft robotic finger were built based on experimental empirical method. While operating underwater, DPIV experiments revealed that the underwater pinch performance of a two-finger gripper prototype is significantly affect by the position relative to the gripped object.

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Section: B Design and Fabrication Of The Soft Robotic Fingermentioning

confidence: 99%

Fiber-reinforced soft robotic anthropomorphic finger

Wang

Gong

Hao

et al. 2016

2016 International Conference on Robotics and Automation Engineering (ICRAE)

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“…Also, complex topologies can be achieved using soft pneumatic actuators and 3D printing to generate various modes of deformations for soft grippers. The main types of soft pneumatic actuators used to drive soft grippers are PneuNets [19][20][21][22][23][24] and fiber-reinforced actuators [25][26][27][28]. Recent manufacturing techniques proposed to fabricate soft grippers using additive manufacturing methods include FDM 3D…”

Section: Introductionmentioning

confidence: 99%

Fully 3D Printed Monolithic Soft Gripper with High Conformal Grasping Capability

Tawk

Gao

Mutlu

et al. 2019

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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The recent advances in material science and engineering disciplines have had a significant impact on the robotics field where numerous bioinspired soft robots have been developed. Roboticists can now develop and fabricate soft robotic systems made of materials with low elasticity using additive manufacturing technologies. One of the most studied classes of soft robotic systems is soft adaptive grippers. In this work, we present a novel fully 3D printed soft pneumatic gripper that incorporates a novel design of soft pneumatic chambers and a bioinspired fin-ray structure for conformal grasping. The soft gripper was printed in a single step using a low-cost and open-source fused deposition modeling (FDM) 3D printer and a commercially available thermoplastic poly(urethane) (TPU). A soft pneumatic actuator representing each finger of the gripper was optimized using finite element modeling (FEM). The FEM simulations predicted accurately the performance of the actuator in terms of deformation and blocked force. The high conformability of the proposed soft gripper was validated experimentally. The soft gripper was demonstrated lifting a heavy load and grasping a wide variety of objects with different weights, shapes, textures and stiffnesses.

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“…The other is three-or four-finger soft grippers that rely on an internal hollow corrugated structure to achieve bending deformation. [16][17][18] These soft grippers can be simply considered as silicone actuators with special design, which use hydraulic or pneumatic drive to reach required bending position. Soft manipulators have low manufacturing cost, 19 and the open-loop control can be used due to soft material properties.…”

Section: Introductionmentioning

confidence: 99%

The development of a new variable stiffness soft gripper

Tang

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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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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Universal soft pneumatic robotic gripper with variable effective length

Cited by 149 publications

References 27 publications

Fiber-reinforced soft robotic anthropomorphic finger

Fiber-reinforced soft robotic anthropomorphic finger

Fully 3D Printed Monolithic Soft Gripper with High Conformal Grasping Capability

The development of a new variable stiffness soft gripper

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