利用刚性支撑增强软机器人抓手的自适应抓取能力

IF 3.8 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

Applied System Innovation Pub Date : 2024-02-12 DOI:10.3390/asi7010015

Zhikang Peng, Dongli Liu, Xiaoyun Song, Meihua Wang, Yiwen Rao, Yanjie Guo, Jun Peng

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引用次数: 0

摘要

软气动机械手可以抓取柔软或形状不规则的物体，在工业、农业和医疗保健领域具有潜在的应用前景。然而，由于自然界中软材料固有的低模量特性，软机械手很少能搬运重型和高密度物体。本文设计了一种带刚性支撑的软机械手，与不带支撑的机械手相比，提升了 150 ± 20% 的提升力，成功地提升了一个金属扳手（672 克）。该软机械手还实现了对不规则形状物体的出色适应性。本文讨论了带刚性支撑的软抓手的设计、制造和性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports

Soft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential applications in industry, agriculture, and healthcare. However, soft grippers rarely carry heavy and dense objects due to the intrinsic low modulus of soft materials in nature. This paper designed a soft robotic gripper with rigid supports to enhance lifting force by 150 ± 20% in comparison with that of the same gripper without supports, which successfully lifted a metallic wrench (672 g). The soft gripper also achieves excellent adaptivity for irregularly shaped objects. The design, fabrication, and performance of soft grippers with rigid supports are discussed in this paper.

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来源期刊

Applied System Innovation Mathematics-Applied Mathematics

CiteScore

7.90

自引率

5.30%

发文量

102

审稿时长

11 weeks