用于多功能抓取的软抓手的进步：探索多样化的执行和抓取机制

Q4 Engineering

Journal of the Korean Society for Precision Engineering Pub Date : 2024-07-31 DOI:10.7736/jkspe.024.046

Hyeonseok Song, D. Kang, Seongjin Park, Hee-Jin Lee, Hoon-Eui Jeong

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引用次数: 0

摘要

.这篇综合评论探讨了塑造软体机器人抓手面貌的最新趋势，深入剖析了它们的各种功能和应用。文章首先探讨了软机械手所采用的各种驱动机制，包括电缆或肌腱驱动、气动、电活性和热活性系统。此外，评述还深入探讨了抓取和操纵机制的复杂性，从多指配置到创新方法，如干扰、吸力和粘附抓取。值得注意的是，混合机械手集成了多种驱动和抓取机制，从而扩大了机械手的功能范围。最后，本综述简要讨论了该领域当前的局限性和未来的发展方向。

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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Advancements in Soft Grippers for Versatile Grasping: Exploring Diverse Actuation and Grasping Mechanisms

. This comprehensive review explores the latest trends shaping the landscape of soft robotic grippers, providing insights into their diverse functionalities and applications. The exploration begins with an examination of the various actuation mechanisms utilized by soft grippers, including cable or tendon-driven, pneumatic, electroactive, and thermoactive systems. Additionally, the review delves into the intricacies of grasping and manipulating mechanisms, spanning from multi-finger configurations to innovative approaches, such as jamming, suction, and adhesion grasping. Notably, hybrid grippers, which integrate multiple actuation and grasping mechanisms, are of particular interest, thereby enhancing the range of functionalities offered by these grippers. Finally, the review briefly addresses current limitations and future directions in the field

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来源期刊

Journal of the Korean Society for Precision Engineering Engineering-Industrial and Manufacturing Engineering

CiteScore

0.50

自引率

0.00%

发文量

104

期刊介绍： Journal of the Korean Society for Precision Engineering (JKSPE) is devoted to publishing original research articles with high ethical standard on all aspects of precision engineering and manufacturing. Specifically, the journal focuses on articles related to improving the precision of machines and manufacturing processes through implementation of creative solutions that stem from advanced research using novel experimental methods, predictive modeling techniques, and rigorous analyses based on mechanical engineering or multidisciplinary approach. The expected outcomes of the knowledge disseminated from JKSPE are enhanced reliability, better motion precision, higher measurement accuracy, and sufficient reliability of precision systems. The various topics covered by JKSPE include: Precision Manufacturing processes, Precision Measurements, Robotics and Automation / Control, Smart Manufacturing System, Design and Materials, Machine Tools, Nano/Micro Technology, Biomechanical Engineering, Additive Manufacturing System, Green Manufacturing Technology.