A Passively Conforming Soft Robotic Gripper with Three-Dimensional Negative Bending Stiffness Fingers

夹持器 抓住 刚度 杂乱 机器人 工作区 弯曲 计算机科学 人工智能 软机器人 光学(聚焦) 工程类 计算机视觉 模拟 机械工程 结构工程 物理 雷达 电信 光学 程序设计语言
作者
Ashley H. Chu,Tianyu Cheng,Arnold Muralt,Çağdaş D. Önal
出处
期刊:Soft robotics [Mary Ann Liebert, Inc.]
卷期号:10 (3): 556-567 被引量:2
标识
DOI:10.1089/soro.2021.0200
摘要

Robot grippers that lack physical compliance have a difficult time dealing with uncertainty, such as fragile objects that may not have well-defined shapes. Existing soft robotic grippers require a large empty workspace for their actuated fingers to curl around the objects of interest, limiting their performance in clutter. This article presents a three-dimensional structure that exhibits negative stiffness in every bending direction used as fingers in a class of soft robotic grippers. Our approach exploits a compliant mechanism in a conical shape such that a transverse external contact force causes the fingers to bend toward the contact, enabling passive conformation for an adaptive grasp, even in clutter. We show analytically and experimentally that the proposed fingers have a negative bending response and that they conform to objects of various diameters. We demonstrate a soft robotic gripper with three self-conforming fingers performing the following: (1) fingertip grasping, (2) power grasping, and (3) semipassive grasping in clutter. Grasping experiments focus on picking fruits, which exemplify delicate objects with unmodeled shapes with significant variation. The experimental results reveal the ability of the self-conforming structure to smoothly envelope a broad range of objects and demonstrate a 100% grasp success rate in the experiments performed. The proposed passively conforming fingers enable picking of complex and unknown geometries without disturbing nearby objects in clutter and without the need for complex grasping algorithms. The proposed structures can be tailored to deform in desired ways, enabling a robust strategy for the engineering of physical compliance for adaptive soft structures.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
123发布了新的文献求助10
刚刚
3秒前
朵朵完成签到,获得积分10
5秒前
发呆的小号完成签到 ,获得积分10
5秒前
充电宝应助原本采纳,获得10
7秒前
山260完成签到 ,获得积分10
7秒前
badada完成签到,获得积分10
7秒前
田様应助科研通管家采纳,获得10
9秒前
大模型应助科研通管家采纳,获得10
9秒前
科研通AI2S应助科研通管家采纳,获得10
9秒前
伶俐乐菱应助科研通管家采纳,获得10
10秒前
10秒前
10秒前
10秒前
shadow完成签到,获得积分10
11秒前
sen123完成签到,获得积分10
12秒前
123完成签到,获得积分20
13秒前
14秒前
NATURECATCHER完成签到,获得积分10
14秒前
温暖霸完成签到,获得积分10
14秒前
以筱完成签到,获得积分10
15秒前
NexusExplorer应助崔崔采纳,获得10
15秒前
CipherSage应助Passskd采纳,获得10
19秒前
20秒前
子睿完成签到,获得积分10
20秒前
背后雨柏完成签到 ,获得积分10
20秒前
21秒前
nanana发布了新的文献求助10
22秒前
量子星尘发布了新的文献求助10
22秒前
五月初夏完成签到,获得积分10
22秒前
hannah发布了新的文献求助10
25秒前
songvv完成签到,获得积分20
26秒前
哟哟哟完成签到,获得积分10
27秒前
27秒前
wanglejia完成签到,获得积分10
27秒前
从容的雪碧完成签到,获得积分10
27秒前
28秒前
Ac完成签到,获得积分10
28秒前
谦让的莆完成签到 ,获得积分10
28秒前
胡图图完成签到,获得积分0
28秒前
高分求助中
【提示信息,请勿应助】关于scihub 10000
Les Mantodea de Guyane: Insecta, Polyneoptera [The Mantids of French Guiana] 3000
徐淮辽南地区新元古代叠层石及生物地层 3000
The Mother of All Tableaux: Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 3000
Handbook of Industrial Diamonds.Vol2 1100
Global Eyelash Assessment scale (GEA) 1000
Picture Books with Same-sex Parented Families: Unintentional Censorship 550
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 4038235
求助须知:如何正确求助?哪些是违规求助? 3575992
关于积分的说明 11374009
捐赠科研通 3305760
什么是DOI,文献DOI怎么找? 1819276
邀请新用户注册赠送积分活动 892662
科研通“疑难数据库(出版商)”最低求助积分说明 815022