Active Bending Mechanism Employing Granular Jamming and Vacuum-Controlled Adaptable Gripper
Active Bending Mechanism Employing Granular Jamming and Vacuum-Controlled Adaptable Gripper
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DOI：
10.1109/lra.2021.3058914
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发表时间：
2021-04
影响因子：
5.2
通讯作者：
T. Mitsuda;Shinsaku Otsuka
中科院分区：
文献类型：
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作者：
T. Mitsuda;Shinsaku Otsuka
在这项研究中，我们提出了一种弯曲机制，能够包裹各种形状的物体，并通过内部空气的疏散来增加其刚度。不像真空夹板需要手动包装和气动弯曲设备的颗粒堵塞需要两个单独的空气控制系统的复杂组合的基础上，我们提出的机制可以使用一个单一的空气抽空系统包裹在物体周围。该机构采用了一个弹性容器包裹聚苯乙烯泡沫珠和聚氨酯海绵。海绵的压缩，由内部空气的排空引起，导致弯曲，而该机构的刚度同时增加，由于颗粒堵塞。在嵌入具有不同刚度的海绵时，海绵收缩开始时的差异导致连续弯曲，这减小了机构和目标物体之间的间隙。首先，我们开发了一种床垫形状的弯曲机构，可以用作真空夹板，不需要手动缠绕物体。此后，使用相同的弯曲机构开发了一种自适应夹持器。夹持器可以缠绕各种形状的物体，并通过排出内部空气来增加其刚度;它甚至可以举起重物。
We propose a bending mechanism in this study capable of wrapping around objects of various shapes and increasing its stiffness simply via the evacuation of internal air. Unlike vacuum splints requiring manual wrapping and pneumatic bending devices based on granular jamming requiring a complicated combination of two separate air control systems, our proposed mechanism can wrap itself around objects using a single air evacuation system. An elastic container enveloping polystyrene foam beads and urethane sponges is employed in this mechanism. The compression of the sponges, caused by the evacuation of internal air, results in bending, while the stiffness of the mechanism increases simultaneously due to granular jamming. On embedding sponges having different stiffnesses, the resulting differences in the onset of sponge shrinkage cause sequential bending, which reduces the gaps between the mechanism and the target object. First, we developed a mattress-shaped bending mechanism that can be used as a vacuum splint and does not need to be manually wrapped around an object. Thereafter, an adaptable gripper was developed using the same bending mechanism. The gripper can wrap around objects having various shapes and increase its stiffness simply by evacuating internal air; it can even lift heavy objects.