Fabrication and performance comparison of different soft pneumatic actuators for lunch box packaging
Fabrication and performance comparison of different soft pneumatic actuators for lunch box packaging
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DOI：
10.1109/rcar.2017.8311830
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发表时间：
2017-07
期刊：
影响因子：
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通讯作者：
Zhongkui Wang;Mingzhu Zhu;S. Kawamura;S. Hirai
中科院分区：
文献类型：
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作者：
Zhongkui Wang;Mingzhu Zhu;S. Kawamura;S. Hirai
由于食品材料的高度变形性和形状和物理性质的巨大个体差异，餐盒包装的自动化是一项具有挑战性的任务。软机器人抓手显示出处理这些任务的潜力。本文介绍了四种不同材料、不同工艺的气动软执行器，并比较了它们在加压弯曲角度方面的性能。我们发现，由3D打印机制造的致动器表现出更好的线性和更小的个体差异。机器人夹具组装使用建议的软致动器和抓取测试进行了软纸容器填充食品材料。试验结果表明，在提升相同重量的目标时，较软的致动器需要较低的空气压力，并且在软容器上产生较小的变形。
Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to handle such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication processes, and compared their performances in terms of pressurized bending angle. We found that the actuators fabricated by 3D printers showed better linearity and less individual differences. Robotic grippers were assembled using the proposed soft actuators and grasping tests were conducted on soft paper containers filled with food materials. Test results suggested that softer actuator required lower air pressure and generated less deformation on the soft container while lifting up targets with the same weight.