夹持器
干扰
抓住
水下
执行机构
计算机科学
遥控车辆
软机器人
遥控水下航行器
液压缸
仿生学
工程类
机械工程
模拟
机器人
人工智能
航空航天工程
移动机器人
物理
地质学
海洋学
热力学
程序设计语言
作者
Cristian Enrico Capalbo,Damiano Tomaino,Fabio Bruno,Domenico Rizzo,Brennan Phillips,Stephen Licht
标识
DOI:10.1109/joe.2022.3156746
摘要
Delicate grasping of complex diverse objects is a challenging task for underwater vehicles, such as remotely operated vehicles (ROVs). In this article, a novel controllably compliant soft robotic underwater gripper is presented, which uses two neutrally buoyant particle jamming pads to safely and securely grasp arbitrarily shaped objects, including fragile and/or massive targets. Antagonistic low-friction rolling diaphragm hydraulic cylinders are used to control the compliance of the jaw closure to passively limit the total force applied during the approach. The antagonistic hydraulic cylinders also compensate for the volume reduction of the pads during the jamming process while still enabling rigid grasp during manipulation. Soft finger-like fiber-reinforced actuators are used to maintain the shape of pads without introducing rigid elements. Force limitation is demonstrated by the ability to pick up fragile objects without breakage and to surround soft targets without excessive deformation of the object. We present the overall design, experimental setup, and in-water testing using a compact ROV-based hydraulic drive system. The resulting system has demonstrated capability for grasping a diverse range of objects that vary widely in terms of weight, size, and geometry, largely enabled by the hybrid design of soft grippers guiding jamming pads into optimal configurations.
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