A Novel Fabric-Based Versatile and Stiffness-Tunable Soft Gripper Integrating Soft Pneumatic Fingers and Wrist
A Novel Fabric-Based Versatile and Stiffness-Tunable Soft Gripper Integrating Soft Pneumatic Fingers and Wrist
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一种新型的基于织物的多功能且刚度可调的软夹具，集成了软气动手指和手腕
DOI：
10.1089/soro.2018.0015
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发表时间：
2018-10-12
期刊：
影响因子：
7.9
通讯作者：
Pang, Wu
中科院分区：
文献类型：
--
作者：
Fei, Yanqiong;Wang, Jiangbei;Pang, Wu
本文提出了一种新型的基于织物的多功能、刚度可调的柔性夹持器的设计和测试，该夹持器集成了柔性气动手指和手腕。形态设计成紧凑的音叉形状（130 x 110 x 260 mm，389 g），具有两个双向片状软指和一个双轴双向（通用）圆柱形软腕。柔软的手指和手腕的多自由度使夹持器具有多功能性，可适应各种形状，尺寸和方向的物体。具有双侧充气腔的双向手指可以通过改变两侧的共同压力和差压来调节其夹持刚度和力。腕部可以以相同的方式调整其偏转刚度和力。因此，夹持器可以夹持各种刚度和重量的物体。测试了柔性夹持器的工作空间、刚度、夹持力和动态响应时间。还进行了夹持功能测试，以评估夹持器的功能实现程度。实验结果表明，该夹持器能够夹持0-245 mm、-88.2 ° ~ 90.8 °（俯仰/滚转）的物体，最大夹持力为40 N，力响应时间为1.22-1.60 s，运动响应时间为0.56-2.61 s。夹持刚度可以在0.029-0.137 N/mm的范围内调节（即，在0 ~ 0.2MPa范围内改变常用压力，可调范围为79%。功能测试验证了所提出的软夹持器是通用的，并适用于夹持各种形状，尺寸，重量和方向的物体。因此，所提出的软夹持器在生产和日常生活中具有很大的应用潜力。
This work presents the design and test of a novel fabric-based versatile and stiffness-tunable soft gripper integrating soft pneumatic fingers and wrist. The morphology is designed into a compact tuning fork shape (130 x 110 x 260 mm, 389 g) with two bidirectional sheet-shaped soft fingers and a biaxial bidirectional (universal) cylinder-shaped soft wrist. The multi-degree of freedom of soft fingers and wrist makes the gripper versatile and adaptable to gripping objects of various shapes, sizes, and orientations in a wide range. The bidirectional fingers with double-side inflatable chambers can tune their gripping stiffness and force by varying the common and differential pressure of the two sides. The wrist can tune its deflecting stiffness and force in the same way. Therefore, the gripper can grip objects of various stiffness and weights. The soft gripper is tested to characterize its workspace, stiffness, gripping force, and dynamic response time. Gripping function tests are also performed to evaluate the achieved degree of functions of the gripper. Tests show that the proposed gripper can grip objects in the size of 0-245 mm and in the orientation of -88.2 degrees-90.8 degrees (pitch/roll) with a maximum gripping force of 40 N and a response time of 1.22-1.60 s to force and 0.56-2.61 s to motion, respectively. The gripping stiffness can be tuned in the range of 0.029-0.137 N/mm (i.e., the tunable scope is 79%) by varying common pressure in the range of 0-0.2 MPa. Functional tests verify that the proposed soft gripper is versatile and adaptable to gripping objects of various shapes, sizes, weights, and orientations. Therefore, the proposed soft gripper has great potential applications in production and daily life.