Tendon-Driven Variable-Stiffness Pneumatic Soft Gripper Robot

IF 2.9 Q2 ROBOTICS
Robotics Pub Date : 2023-09-11 DOI:10.3390/robotics12050128
Safeh Clinton Mawah, Yong-Jai Park
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引用次数: 0

Abstract

In recent times, the soft robotics field has been attracting significant research focus owing to its high level of manipulation capabilities unlike traditional rigid robots, which gives room for increasing use in other areas. However, compared to traditional rigid gripper robots, being capable of controlling/obtaining overall body stiffness when required is yet to be further explored since soft gripper robots have inherently less-rigid properties. Unlike previous designs with very complex variable-stiffness systems, this paper demonstrates a soft gripper design with minimum system complexity while being capable of varying the stiffness of a continuum soft robotic actuator and proves to have potential applications in gripping objects of various shapes, weights, and sizes. The soft gripper actuator comprises two separate mechanisms: the pneumatic mechanism for bending control and the mechanical structure for stiffness variation by pulling tendons using stepper motors which compresses the actuator, thereby changing the overall stiffness. The pneumatic mechanism was first fabricated and then embedded into another silicon layer during which it was also merged with the mechanical structure for stiffness control. By first pneumatically actuating the actuator which causes bending and then pulling the tendons, we found out that the actuator stiffness value can be increased up to 145% its initial value, and the gripper can grasp and lift a weight of up to 2.075 kg.
肌腱驱动变刚度气动软抓取机器人
近年来,软机器人领域由于其不同于传统刚性机器人的高水平操作能力而吸引了大量的研究热点,这为其他领域的应用提供了更多的空间。然而,与传统的刚性抓取机器人相比,由于软抓取机器人本身具有较低的刚性特性,因此在需要时能够控制/获得整体的身体刚度还有待进一步探索。与以往设计非常复杂的变刚度系统不同,本文展示了一种具有最小系统复杂性的软夹持器设计,同时能够改变连续软机器人执行器的刚度,并证明了在夹持各种形状,重量和尺寸的物体方面具有潜在的应用。软夹持执行器包括两个独立的机构:用于弯曲控制的气动机构和通过使用步进电机压缩执行器的拉力来改变刚度的机械结构,从而改变整体刚度。首先制作气动机构,然后嵌入另一硅层,在此期间,气动机构也与机械结构合并以进行刚度控制。通过先对致动器进行气动致动,使致动器产生弯曲,再对其进行拉筋,可使致动器的刚度值提高到初始值的145%,抓手可抓举重量达2.075 kg。
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来源期刊
Robotics
Robotics Mathematics-Control and Optimization
CiteScore
6.70
自引率
8.10%
发文量
114
审稿时长
11 weeks
期刊介绍: Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM
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