Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize...Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize on computer,and has no limit on contact points for each finger. Analyses for grasping stability with single contact point of typical objects with different curvature proved the effectiveness of the method proposed and optimal grasp examples are given as well.展开更多
In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft grip...In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft gripper structures and a soft bionic bracket structure.We adopt the local thin-walled design in the soft gripper structures.This design improves the grippers’bending efficiency,and imitate human finger’s segmental bending function.In addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing movements.Due to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping devices.Particularly,to grasp small objects reliably,we further present a new Pinching Grasping(PG)method.The great performance of the fully SBGD is verified by experiments.This work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.展开更多
文摘Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize on computer,and has no limit on contact points for each finger. Analyses for grasping stability with single contact point of typical objects with different curvature proved the effectiveness of the method proposed and optimal grasp examples are given as well.
基金This work was funded by the National Natural Science Foundation of Chinaunder Grant 62073305the Fundamental Research Funds for the Central Universities,China University of Geosciences(Wuhan)(Nos.CUG170610 and CUGGC02).
文摘In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft gripper structures and a soft bionic bracket structure.We adopt the local thin-walled design in the soft gripper structures.This design improves the grippers’bending efficiency,and imitate human finger’s segmental bending function.In addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing movements.Due to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping devices.Particularly,to grasp small objects reliably,we further present a new Pinching Grasping(PG)method.The great performance of the fully SBGD is verified by experiments.This work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.
