An Origami-Inspired Variable Friction Surface for Increasing the Dexterity of Robotic Grippers
An Origami-Inspired Variable Friction Surface for Increasing the Dexterity of Robotic Grippers
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DOI：
10.1109/lra.2020.2972833
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发表时间：
2020-02
影响因子：
5.2
通讯作者：
Qiujie Lu;A. B. Clark;Matthew Shen;Nicolás Rojas
中科院分区：
文献类型：
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作者：
Qiujie Lu;A. B. Clark;Matthew Shen;Nicolás Rojas
虽然机器人抓取器的抓取能力已经显示出显著的发展，但是在手中操纵物体的能力仍然有限。这种限制的一种解释是被抓取物体和夹具之间缺乏受控的接触变化。例如，人手具有牢固地抓握物体表面以及在物体表面上滑动的能力，这是有助于增强对手部内的物体的操纵而不失去接触的方面。在这封信中，我们提出了一个参数，折纸启发薄表面能够在高摩擦和低摩擦状态之间过渡，适合作为机器人手指的表皮实施。基于其设计参数，力分析，和性能在手操作任务的建议表面的数值分析。通过开发一个简单的两指两自由度的夹具，利用所提出的可变摩擦表面具有不同的参数，我们实验证明了改进的操作能力的手相比，相同的夹具没有可变的摩擦。结果表明，图形密度和谷隙是影响手控性能的主要参数。具有更高图案密度的折纸灵感薄表面产生更小的谷间隙和更小的高度变化，从而更稳定地改善手的操作能力。
While the grasping capability of robotic grippers has shown significant development, the ability to manipulate objects within the hand is still limited. One explanation for this limitation is the lack of controlled contact variation between the grasped object and the gripper. For instance, human hands have the ability to firmly grip object surfaces, as well as slide over object faces, an aspect that aids the enhanced manipulation of objects within the hand without losing contact. In this letter, we present a parametric, origami-inspired thin surface capable of transitioning between a high friction and a low friction state, suitable for implementation as an epidermis in robotic fingers. A numerical analysis of the proposed surface based on its design parameters, force analysis, and performance in in-hand manipulation tasks is presented. Through the development of a simple two-fingered two-degree-of-freedom gripper utilizing the proposed variable-friction surfaces with different parameters, we experimentally demonstrate the improved manipulation capabilities of the hand when compared to the same gripper without changeable friction. Results show that the pattern density and valley gap are the main parameters that effect the in-hand manipulation performance. The origami-inspired thin surface with a higher pattern density generated a smaller valley gap and smaller height change, producing a more stable improvement of the manipulation capabilities of the hand.