Passive gripper inspired by Manduca sexta and the Fin Ray® Effect
Passive gripper inspired by Manduca sexta and the Fin Ray® Effect
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DOI：
10.1177/1729881417721155
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发表时间：
2017-07-26
影响因子：
2.3
通讯作者：
Messner, William
中科院分区：
文献类型：
--
作者：
Crooks, Whitney;Rozen-Levy, Shane;Messner, William
软机器人抓手对于机器人与人类近距离接触、必须处理微妙的物体或需要与物体保持一致的任务是有利的。大多数软机器人抓手，就像它们的硬抓手一样，需要驱动才能保持对物体的抓取。在这里，我们介绍了一种被动、柔软的机器人抓手，它需要电力来打开和关闭，但不需要保持抓力，这在能源供应有限的环境中可能会出现问题(例如太阳能或电池电力)。被动抓地力，通过不需要电力来保持对物体的抓地力，为能源有限或能源稀缺的环境提供了一种独特而安全的替代方案。塔夫茨被动抓钩的灵感来自于Manduca sexta的被动抓握和Fin Ray(注册商标)效果的简单性。夹持器可以在多材料三维打印机上作为一个部件进行三维打印，并且只需要额外的四个步骤来安装马达/肌腱驱动机构。这个夹持器能够拿起40多种常见的家居物品，包括纸巾、钢笔、银器、针、订书机、杯子等。当垂直于地面和平行于地面时，抓取器可以承受的最大载荷分别为530克(1磅)和240克(0.5磅)。
Soft robotic grippers are advantageous for tasks in which a robot comes into close contact with a human, must handle a delicate object, or needs to conform to an object. Most soft robotic grippers, like their hard counterparts, require actuation to maintain a grip on an object. Here, we present a passive, soft robotic gripper that requires power to open and close but not to maintain a grip, which can be problematic in environments with limited energy availability (e.g. solar or battery power). Passive grip, by not requiring power to maintain grip on an object, provides a unique and safe alternative to energy-limited or energy-scarce environments. The Tufts Passive Gripper was inspired by the passive grip of the Manduca sexta and the simplicity of the Fin Ray (R) Effect. The gripper can be three-dimensional printed as one part on a multimaterial three-dimensional printer and only requires four additional steps to install the motor/tendon actuation mechanism. The gripper was capable of picking up over 40 common household objects, including a tissue, a pen, silverware, a needle, a stapler, a cup, and so on. The maximum load a gripper could hold when oriented perpendicular and parallel to the ground was 530 g (1 lb) and 240 g (0.5 lb), respectively.