Design and Characterization of Soft Pneumatic Actuator for Universal Robot Gripper
Design and Characterization of Soft Pneumatic Actuator for Universal Robot Gripper
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DOI：
10.1109/iccr.2018.8534483
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发表时间：
2018-09
期刊：
影响因子：
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通讯作者：
Mohamed E. M. Salem;Qiang Wang;Ruoshi Wen;Ma Xiang
中科院分区：
文献类型：
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作者：
Mohamed E. M. Salem;Qiang Wang;Ruoshi Wen;Ma Xiang
在工业应用中，传统的硬夹持器已经被广泛使用了很长时间。然而，当使用硬夹持器时，夹持器表面的形状必须根据夹持物体的形状来设计，因此夹持器只能保持少数数量的物体，并且在某些情况下只能保持唯一的物体。近年来，软驱动器由于其高柔性、轻便、易制造和低成本等优点而受到机器人领域的广泛关注。本文提出了一种由四个柔性弯曲驱动器和一个柔性手腕组成的通用柔性气动夹持器。直接3D打印技术作为一种新技术，通过使用两种不同类型的TPU 3D打印机灯丝，在软气动执行器的制造过程中提出。利用ABAQUS/CAE软件的优势，通过实验测试，对柔性驱动器的曲率半径、弯曲性能等进行了表征。
In industrial application, the conventional hard grippers have been widely used for a long time. However, when hard grippers are used, the shape of the gripper surface has to be designed according to the shape of the grasping objects, so the gripper can only hold a few numbers of objects and in some cases unique object. Recently, soft actuators are drawing attention in robotics field due to their high flexibility, lightness, ease of fabrication and its low cost. In this paper, we present a universal soft pneumatic gripper which consists of four soft bending actuators and a soft wrist. Direct 3D printing technique is presented in the fabrication process of the soft pneumatic actuators as a new technique by using two different types of TPU 3D printer filament. Soft actuators characterization such as the radius of curvature and the bending performance are presented by using the advantage of ABAQUS/CAE software and experimental tests.