Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating ...Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.展开更多
Traditional robotic grippers encounter significant challenges when handling small objects in confined spaces,underscoring the need for innovative instruments with enhanced space efficiency and adaptability.Erodium cic...Traditional robotic grippers encounter significant challenges when handling small objects in confined spaces,underscoring the need for innovative instruments with enhanced space efficiency and adaptability.Erodium cicutarium awns have evolved hygroresponsive helical deformation,efficiently driving seeds into soil crevices with limited space utilization.Drawing inspiration from this natural mechanism,we developed a biomimetic thin-walled actuator with water-responsive helical capabilities.It features a composite material structure comprising common engineering materials with low toxicity.Leveraging fused deposition modeling 3D printing technology and the composite impregnation process,the actuator’s manufacturing process is streamlined and cost-effective,suitable for real-world applications.Then,a mathematical model is built to delineate the relationship between the biomimetic actuator’s key structural parameters and deformation characteristics.The experimental results emphasize the actuator’s compact dimension(0.26 mm thickness)and its capability to form a helical tube under 5 mm diameter within 60 s,demonstrating outstanding space efficiency.Moreover,helical characteristics and stiffness of the biomimetic actuators are configurable through precise modifications to the composite material structure.Consequently,it is capable of effectively grasping an object smaller than 3 mm.The innovative mechanism and design principles hold promise for advancing robotic technology,particularly in fields requiring high space efficiency and adaptability,such as fine tubing decongestion,underwater sampling,and medical endoscopic surgery.展开更多
For an autonomous system to perform maintenance tasks in a networking device or a radio base station(RBS), it has to deal with a series of technological challenges ranging from identifying hardware-related problems to...For an autonomous system to perform maintenance tasks in a networking device or a radio base station(RBS), it has to deal with a series of technological challenges ranging from identifying hardware-related problems to manipulating connectors. This paper describes the development of a robot maintenance system dedicated to detect and resolve faulty links caused by unplugged or poorly connected cables. Although the maintenance system relies on four subsystems, we significantly focus on our low-cost and efficient custom gripper solution developed to handle RJ45 Ethernet connectors. To examine our gripper, we conducted three experiments. First, a qualitative questionnaire was submitted to 30 users in the case of the teleoperated scenario of the gripper attached to a robotic arm. Similarly, we also tested the automatic operation mode. The results showed that our system is reliable and delivers a highly efficient maintenance tool in both teleoperated and autonomous operation modes. The practical experiment containing the removal or unplugging of connectors demonstrated our gripper′s ability to adequately handle these, whereas the feedback from the questionnaire pointed to a positive user experience. The automatic test assessed the gripper′s robustness against the continuous operation.展开更多
In current research on soft grippers,pneumatically actuated soft grippers are generally fabricated using fully soft materials,which have the advantage of flexibility as well as the disadvantages of a small gripping fo...In current research on soft grippers,pneumatically actuated soft grippers are generally fabricated using fully soft materials,which have the advantage of flexibility as well as the disadvantages of a small gripping force and slow response speed.To improve these characteristics,a novel pneumatic soft gripper with a jointed endoskeleton structure(E-Gripper)is developed,in which the muscle actuating function has been separated from the force bearing function.The soft action of an E-Gripper finger is performed by some air chambers surrounded by multilayer rubber embedded in the restraining fiber.The gripping force is borne and transferred by the rigid endoskeleton within the E-Gripper finger Thus,the gripping force and action response speed can be increased while the flexibility is maintained.Through experiments,the bending angle of each finger segment,response time,and gripping force of the E-Gripper have been measured,which provides a basis for designing and controlling the soft gripper The test results have shown that the maximum gripping force of the E-Gripper can be 35 N,which is three times greater than that of a fully soft gripper(FS-Gripper)of the same size.At the maximum charging pressure of 150 kPa,the response time is1.123 s faster than that of the FS-Gripper.The research results indicate that the flexibility of a pneumatic soft gripper is not only maintained in the case of the E-Gripper,but its gripping force is also obviously increased,and the response time is reduced.The E-Gripper thus shows great potential for future development and applications.展开更多
To improve the grasping power of soft robots,inspired by the scene of intertwined and interdependent vine branches safely clinging to habitats in a violent storm and the phenomenon of large grasping force after being ...To improve the grasping power of soft robots,inspired by the scene of intertwined and interdependent vine branches safely clinging to habitats in a violent storm and the phenomenon of large grasping force after being entangled by aquatic plants,this paper proposes a soft robotic gripper with multi-stem twining.The proposed robotic gripper can realize a larger contact area of surrounding or containing object and more layers of a twining object than the current twining gripping methods.It not only retains the adaptive advantages of twining grasping but also improves the grasping force.First,based on the mechanical characteristics of the multi-stem twining of the gripper,the twining grasping model is developed.Then,the force on the fiber is deduced by using the twining theory,and the axial force of the gripper is analyzed based on the equivalent model of the rubber ring.Finally,the torsion experiments of fibers and the grasping experiments of the gripper are designed and conducted.The torsion experiment of fibers verifies the influence of a different number of fiber ropes and fiber torque on the grasping force,and the grasping experiment reflects the large load of the gripper and the high adaptability and practicability under different tasks.展开更多
This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control u...This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC ＋ MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented. This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions m three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system＇s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are diffficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB＇s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller. The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.展开更多
A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theo...A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.展开更多
Inspired by the morphology of human fingers,this paper proposes an underactuated rigid-soft coupled robotic gripper whose finger is designed as the combination of a rigid skeleton and a soft tissue.Different from the ...Inspired by the morphology of human fingers,this paper proposes an underactuated rigid-soft coupled robotic gripper whose finger is designed as the combination of a rigid skeleton and a soft tissue.Different from the current grippers who have multi-point contact or line contact with the target objects,the proposed robotic gripper enables surface contact and leads to flexible grasping and robust holding.The actuated mechanism,which is the palm of proposed gripper,is optimized for excellent operability based on a mathematical model.Soft material selection and rigid skeleton structure of fingers are then analyzed through a series of dynamic simulations by RecurDyn and Adams.After above design process including topology analysis,actuated mechanism optimization,soft material selection and rigid skeleton analysis,the rigid-soft coupled robotic gripper is fabricated via 3D printing.Finally,the grasping and holding capabilities are validated by experiments testing the stiffness of a single finger and the impact resistance of the gripper.Experimental results show that the proposed rigid-soft coupled robotic gripper can adapt to objects with different properties(shape,size,weight and softness)and hold them steadily.It confirms the feasibility of the design procedure,as well as the compliant and dexterous grasping capabilities of proposed rigid-soft coupled gripper.展开更多
The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this pro...The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this problem,a novel bionic pneumatic gripper inspired by spider legs is proposed.The design has two pairs of symmetrical fingers,each finger consists of two pneumatic actuated joints,two rigid links and one pneumatic soft pad.The rigid link connects the pneumatic chamber which is enclosed in a retractable shell to increase the actuation pressure and the gripping force.The compressibility and elasticity of the soft joint and pad enable the gripper to grasp fragile objects without damage.The modeling of the bionic gripper is developed,and the parameters of the joint actuators are optimized accordingly.The prototype is manufactured and tested with the developed experimental platform,where the gripping force,flexibility and adaptability are evaluated.The results indicate that the designed gripper can grasp irregular and fragile items in sizes from 40 to 140 mm without damage,and the lifting weight is up to 15 N.展开更多
A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU micr...A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The RES algorithm estimated and tracked a gripper’s centroid to implement a visual-servoing control in the microassembly operation. The main specifications of the system are: gripping range of 60~80μm, working space of 7mm×5.74mm×15mm, system bandwidth of 15Hz. In the performance test, a copper rod with diameter 60μm was automatically gripped and transported for transferring glue and bonding. The 60μm copper rod was dipped into a glue container and moved, pressed and bonding to a copper rod of 380μm. The amount of binding glue was estimated about 5.7nl.展开更多
A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-mac...A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-machine-based data fusion algorithm and also design the gripper system by combining data fusion with CAN bus and CORBA technology, which provides the gripper system with outstanding characteristics such as modularization and intelligence. A multisensory integration gripper test bed is finally built on which a circuit board replacement job based on Internet-based teleoperation is achieved. The experimental results verify the validity of this gripper system design.展开更多
The characteristics of a kind of comb-drive electrostatic actuated micro-gripper are tested. The test platform using a microscope-CCD-computer, the state information of the micro-gripper obtained by data acquisition a...The characteristics of a kind of comb-drive electrostatic actuated micro-gripper are tested. The test platform using a microscope-CCD-computer, the state information of the micro-gripper obtained by data acquisition and image processing, voltage-displacement characteristic curve is obtained and the mathematical equation is established. The analysis of the characteristic equation has shown the consistency and rationality of the theoretical design and the experimental results. The main factors that cause the difference between the theoretical design and the actual test performance are analyzed, and the design method and experimental results is obtained for the micro-gripper in the field of micro-assembly.展开更多
The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high...The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.展开更多
Deep foundation pit engineering is one of the most common dangerous projects. Among them, the use of 609 steel pipe supports as structural supports in tunnels is a more common construction technique (especially in mun...Deep foundation pit engineering is one of the most common dangerous projects. Among them, the use of 609 steel pipe supports as structural supports in tunnels is a more common construction technique (especially in municipal projects such as tracks), and dismantling these steel supports is a major hazard operation. It is clear that when the method is adopted to dismantle the steel support in the tunnel, the construction efficiency can be greatly improved, and more importantly, various potential safety hazards caused by the dismantling can be eliminated, and the construction safety can be ensured;moreover, the method is simple and feasible, is very worthy of popularization and has a wide application prospect.展开更多
Can a robotic gripper only operate when attached to a robotic arm?The application space of the traditional gripper is limited by the robotic arm.Giving robot grippers the ability to move will expand their range of app...Can a robotic gripper only operate when attached to a robotic arm?The application space of the traditional gripper is limited by the robotic arm.Giving robot grippers the ability to move will expand their range of applications.Inspired by rich behavioral repertoire observed in octopus,we implement an integrated multifunctional soft robotic gripper with 6 independently controlled Arms.It can execute 8 different gripping actions for different objects,such as irregular rigid/soft objects,elongated objects with arbitrary orientation,and plane/curved objects with larger sizes than the grippers.Moreover,the soft gripper can realize omnidirectional crawling and swimming by itself.The soft gripper can perform highly integrated tasks of releasing,crawling,swimming,grasping,and retrieving objects in a confined underwater environment.Experimental results demonstrate that the integrated capabilities of multimodal adaptive grasping and omnidirectional motions enable dexterous manipulations that traditional robotic arms cannot achieve.The soft gripper may apply to highly integrated and labor-intensive tasks in unstructured underwater environments,including ocean litter collecting,capture fishery,and archeological exploration.展开更多
基金the financial support from the Strategic Priority Research Program of the Chinese Academy of Sciences (XDB0470303)the National Key Research and Development Program of China (2022YFB4600101)+5 种基金the National Natural Science Foundation of China (52175201)the Research Program of Science and Technology Department of Gansu Province (24JRRA059, 24JRRA044, and 24YFFA014)the Science Fund of Shandong Laboratory of Advanced Materials and Green Manufacturing at Yantai (AMGM2024F12)the Major Program (ZYFZFX-2) of the Lanzhou Institute of Chemical Physics, CASthe Special Research Assistant Project of the Chinese Academy of Sciencesthe Oasis Scholar of Shihezi University
文摘Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.
基金supported by National Natural Science Foundation of China(Grants No.52105295 and 52305008)Natural Science Foundation of Jiangsu Province(Grants No.BK20210082 and BK20210440)+2 种基金Changzhou Science and Technology Project(Grants No.CJ20230040 and CJ20230038)China Postdoctoral Science Foundation Grant No.2022T150259Department of Science and Technology of Jilin Province Grant No.20230402063GH.
文摘Traditional robotic grippers encounter significant challenges when handling small objects in confined spaces,underscoring the need for innovative instruments with enhanced space efficiency and adaptability.Erodium cicutarium awns have evolved hygroresponsive helical deformation,efficiently driving seeds into soil crevices with limited space utilization.Drawing inspiration from this natural mechanism,we developed a biomimetic thin-walled actuator with water-responsive helical capabilities.It features a composite material structure comprising common engineering materials with low toxicity.Leveraging fused deposition modeling 3D printing technology and the composite impregnation process,the actuator’s manufacturing process is streamlined and cost-effective,suitable for real-world applications.Then,a mathematical model is built to delineate the relationship between the biomimetic actuator’s key structural parameters and deformation characteristics.The experimental results emphasize the actuator’s compact dimension(0.26 mm thickness)and its capability to form a helical tube under 5 mm diameter within 60 s,demonstrating outstanding space efficiency.Moreover,helical characteristics and stiffness of the biomimetic actuators are configurable through precise modifications to the composite material structure.Consequently,it is capable of effectively grasping an object smaller than 3 mm.The innovative mechanism and design principles hold promise for advancing robotic technology,particularly in fields requiring high space efficiency and adaptability,such as fine tubing decongestion,underwater sampling,and medical endoscopic surgery.
基金by the Research,Development and Innovation Center,Ericsson Telecommunications Inc.,Brazil.
文摘For an autonomous system to perform maintenance tasks in a networking device or a radio base station(RBS), it has to deal with a series of technological challenges ranging from identifying hardware-related problems to manipulating connectors. This paper describes the development of a robot maintenance system dedicated to detect and resolve faulty links caused by unplugged or poorly connected cables. Although the maintenance system relies on four subsystems, we significantly focus on our low-cost and efficient custom gripper solution developed to handle RJ45 Ethernet connectors. To examine our gripper, we conducted three experiments. First, a qualitative questionnaire was submitted to 30 users in the case of the teleoperated scenario of the gripper attached to a robotic arm. Similarly, we also tested the automatic operation mode. The results showed that our system is reliable and delivers a highly efficient maintenance tool in both teleoperated and autonomous operation modes. The practical experiment containing the removal or unplugging of connectors demonstrated our gripper′s ability to adequately handle these, whereas the feedback from the questionnaire pointed to a positive user experience. The automatic test assessed the gripper′s robustness against the continuous operation.
基金Supported by National Natural Science Foundation of China(Grant No.51305202)Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20130764)
文摘In current research on soft grippers,pneumatically actuated soft grippers are generally fabricated using fully soft materials,which have the advantage of flexibility as well as the disadvantages of a small gripping force and slow response speed.To improve these characteristics,a novel pneumatic soft gripper with a jointed endoskeleton structure(E-Gripper)is developed,in which the muscle actuating function has been separated from the force bearing function.The soft action of an E-Gripper finger is performed by some air chambers surrounded by multilayer rubber embedded in the restraining fiber.The gripping force is borne and transferred by the rigid endoskeleton within the E-Gripper finger Thus,the gripping force and action response speed can be increased while the flexibility is maintained.Through experiments,the bending angle of each finger segment,response time,and gripping force of the E-Gripper have been measured,which provides a basis for designing and controlling the soft gripper The test results have shown that the maximum gripping force of the E-Gripper can be 35 N,which is three times greater than that of a fully soft gripper(FS-Gripper)of the same size.At the maximum charging pressure of 150 kPa,the response time is1.123 s faster than that of the FS-Gripper.The research results indicate that the flexibility of a pneumatic soft gripper is not only maintained in the case of the E-Gripper,but its gripping force is also obviously increased,and the response time is reduced.The E-Gripper thus shows great potential for future development and applications.
基金supported in part by Natural Science Foundation Key projects of Hebei Province under Grant E2021203125in part by the Joint fund of the Science&Technology Department of Liaoning Province and State Key Laboratory of Robotics,China under Grant 2021KF2206+1 种基金in part by Local science and technology development fund projects guided by the central government under Grant 206Z1807Gin part by Hebei Province Graduate Innovation Funding Project under Grant CXZZBS2022127.
文摘To improve the grasping power of soft robots,inspired by the scene of intertwined and interdependent vine branches safely clinging to habitats in a violent storm and the phenomenon of large grasping force after being entangled by aquatic plants,this paper proposes a soft robotic gripper with multi-stem twining.The proposed robotic gripper can realize a larger contact area of surrounding or containing object and more layers of a twining object than the current twining gripping methods.It not only retains the adaptive advantages of twining grasping but also improves the grasping force.First,based on the mechanical characteristics of the multi-stem twining of the gripper,the twining grasping model is developed.Then,the force on the fiber is deduced by using the twining theory,and the axial force of the gripper is analyzed based on the equivalent model of the rubber ring.Finally,the torsion experiments of fibers and the grasping experiments of the gripper are designed and conducted.The torsion experiment of fibers verifies the influence of a different number of fiber ropes and fiber torque on the grasping force,and the grasping experiment reflects the large load of the gripper and the high adaptability and practicability under different tasks.
基金This work was supported bythe National Natural Science Foundation of China (No .60275013) the Natural High Technology Researchand DevelopementProgramof China(No .2004AA844120) .
文摘This paper presents a vacuum gripper （as an actuator of an intelligent micromanipulator） for micro objects （with a diameter of 100 - 300μm） assembly tasks. The gripper is composed of a vacuum unit and a control unit. The vacuum unit with a proportional valve and a pressure sensor, and the control unit with a PC ＋ MCU two-layered control architecture are designed. The mechanical structure, workflow and major programs of the micro-gripper are presented. This paper discusses the major components of the adhesion force acting on micro objects. Some equations of the operation conditions m three phases of pick, hold and place are derived by mechanics analysis. The pneumatic system＇s pressure loss is inevitable. There are some formulas for calculating the amount of the pressure loss, but parameters in formulas are diffficult to be quantified and evaluated. To control the working pressure accurately, a pressure controller based on fuzzy logic is designed. With MATLAB＇s fuzzy logic toolbox, simulation experiments are performed to validate the performance of the fuzzy PD controller. The gripper is characterized by a steady and reliable performance and a simple structure, and it is suitable for handling micro objects with a sub-millimeter size.
文摘A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.
基金This was supported in part by the National Natural Science Foundation of China under Grant 52275027,52275028 and 52205028in part by the Tianjin Science and Technology Planning Project under Grant 20201193.
文摘Inspired by the morphology of human fingers,this paper proposes an underactuated rigid-soft coupled robotic gripper whose finger is designed as the combination of a rigid skeleton and a soft tissue.Different from the current grippers who have multi-point contact or line contact with the target objects,the proposed robotic gripper enables surface contact and leads to flexible grasping and robust holding.The actuated mechanism,which is the palm of proposed gripper,is optimized for excellent operability based on a mathematical model.Soft material selection and rigid skeleton structure of fingers are then analyzed through a series of dynamic simulations by RecurDyn and Adams.After above design process including topology analysis,actuated mechanism optimization,soft material selection and rigid skeleton analysis,the rigid-soft coupled robotic gripper is fabricated via 3D printing.Finally,the grasping and holding capabilities are validated by experiments testing the stiffness of a single finger and the impact resistance of the gripper.Experimental results show that the proposed rigid-soft coupled robotic gripper can adapt to objects with different properties(shape,size,weight and softness)and hold them steadily.It confirms the feasibility of the design procedure,as well as the compliant and dexterous grasping capabilities of proposed rigid-soft coupled gripper.
基金supported by the National Natural Science Foundation of China (52175100,51975394)the Natural Science Foundation of Jiangsu Province (BK20211336).
文摘The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this problem,a novel bionic pneumatic gripper inspired by spider legs is proposed.The design has two pairs of symmetrical fingers,each finger consists of two pneumatic actuated joints,two rigid links and one pneumatic soft pad.The rigid link connects the pneumatic chamber which is enclosed in a retractable shell to increase the actuation pressure and the gripping force.The compressibility and elasticity of the soft joint and pad enable the gripper to grasp fragile objects without damage.The modeling of the bionic gripper is developed,and the parameters of the joint actuators are optimized accordingly.The prototype is manufactured and tested with the developed experimental platform,where the gripping force,flexibility and adaptability are evaluated.The results indicate that the designed gripper can grasp irregular and fragile items in sizes from 40 to 140 mm without damage,and the lifting weight is up to 15 N.
文摘A system using microgripper for gluing and adhesive bonding in automatic microassembly was designed, implemented, and tested. The development of system is guided by axiomatic design principle. With a compliant PU microgripper, regional-edge-statistics (RES) algorithm, and PD controller, a visual-servoing system was implemented for gripping micro object, gluing adhesive, and operating adhesive bonding. The RES algorithm estimated and tracked a gripper’s centroid to implement a visual-servoing control in the microassembly operation. The main specifications of the system are: gripping range of 60~80μm, working space of 7mm×5.74mm×15mm, system bandwidth of 15Hz. In the performance test, a copper rod with diameter 60μm was automatically gripped and transported for transferring glue and bonding. The 60μm copper rod was dipped into a glue container and moved, pressed and bonding to a copper rod of 380μm. The amount of binding glue was estimated about 5.7nl.
文摘A layered architecture of muhisensory integration gripper system is first developed, which includes data acquisition layer, data processing layer and network interface layer. Then we propose a novel support-vector-machine-based data fusion algorithm and also design the gripper system by combining data fusion with CAN bus and CORBA technology, which provides the gripper system with outstanding characteristics such as modularization and intelligence. A multisensory integration gripper test bed is finally built on which a circuit board replacement job based on Internet-based teleoperation is achieved. The experimental results verify the validity of this gripper system design.
文摘The characteristics of a kind of comb-drive electrostatic actuated micro-gripper are tested. The test platform using a microscope-CCD-computer, the state information of the micro-gripper obtained by data acquisition and image processing, voltage-displacement characteristic curve is obtained and the mathematical equation is established. The analysis of the characteristic equation has shown the consistency and rationality of the theoretical design and the experimental results. The main factors that cause the difference between the theoretical design and the actual test performance are analyzed, and the design method and experimental results is obtained for the micro-gripper in the field of micro-assembly.
文摘The paper presents theoretical and experimental results on an original anthropomorphic gripping concept. Compared to the existing anthropomorphic grippers, this gripper is very simple, yet it has the advantage of high performance in terms of gripping possibilities and a very low manufacturing cost. Source of inspiration was the human hand, which is able to catch objects by only using two fingers. The analyzed anthropomorphic gripper has two fingers, with two phalanxes each, and is based on a new mechanism with articulated bars. The kinematic analysis performed on the gripping mechanism reveals the optimal displacement in the translational coupling, which was experimentally validated. The gripping possibilities were increased by attaching clamping jaws to each phalanx. The clamping jaws have been attached by means of spherical couplings, thus offering the possibility to catch objects with any type of surface. By carrying out gripping tests with different objects, we underline the importance of a safe use of the two-fingered anthropomorphic grippers in different applications. Due to the innovative mechanical structure, the gripper can insure the minimal gripping conditions, whilst the complexity of the objects that can be gripped make it suitable for the use in robots.
文摘Deep foundation pit engineering is one of the most common dangerous projects. Among them, the use of 609 steel pipe supports as structural supports in tunnels is a more common construction technique (especially in municipal projects such as tracks), and dismantling these steel supports is a major hazard operation. It is clear that when the method is adopted to dismantle the steel support in the tunnel, the construction efficiency can be greatly improved, and more importantly, various potential safety hazards caused by the dismantling can be eliminated, and the construction safety can be ensured;moreover, the method is simple and feasible, is very worthy of popularization and has a wide application prospect.
基金supported in part by the National Natural Science Foundation of China under grants U22A2062,U23B2037,12272008,and 61973007in part by the Beijing Natural Science Foundation under grant 3242003。
文摘Can a robotic gripper only operate when attached to a robotic arm?The application space of the traditional gripper is limited by the robotic arm.Giving robot grippers the ability to move will expand their range of applications.Inspired by rich behavioral repertoire observed in octopus,we implement an integrated multifunctional soft robotic gripper with 6 independently controlled Arms.It can execute 8 different gripping actions for different objects,such as irregular rigid/soft objects,elongated objects with arbitrary orientation,and plane/curved objects with larger sizes than the grippers.Moreover,the soft gripper can realize omnidirectional crawling and swimming by itself.The soft gripper can perform highly integrated tasks of releasing,crawling,swimming,grasping,and retrieving objects in a confined underwater environment.Experimental results demonstrate that the integrated capabilities of multimodal adaptive grasping and omnidirectional motions enable dexterous manipulations that traditional robotic arms cannot achieve.The soft gripper may apply to highly integrated and labor-intensive tasks in unstructured underwater environments,including ocean litter collecting,capture fishery,and archeological exploration.
