Grasping with kirigami shells
Grasping with kirigami shells
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DOI：
10.1126/scirobotics.abd6426
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发表时间：
2021-05-12
期刊：
影响因子：
25
通讯作者：
Holmes, Douglas P.
中科院分区：
文献类型：
--
作者：
Yang, Yi;Vella, Katherine;Holmes, Douglas P.
抓取、握住和操纵物体的能力是生物和工程系统中至关重要的基本操作。在这里，我们提出了一个软夹持器使用一个简单的材料系统，使精确和快速抓取，并可以小型化，模块化，远程驱动。这款柔软的抓手是基于kirigami贝壳薄而有弹性的贝壳，上面有一系列的切口。kirigami切割模式是通过评估外壳的力学和几何形状，使用实验，有限元模拟和理论建模的组合，这使得夹具设计是可扩展的和材料独立的。我们证明，kirigami壳夹持器可以很容易地集成到现有的机器人平台或远程驱动使用磁场。kirigami切割图案产生简单的单元，其可以串联连接在一起，并且再次并联连接，以产生能够同时抓取多个精细且光滑的物体的kirigami抓取器阵列。这些柔软而轻便的夹具将在机器人，触觉和生物医学设备设计中应用。
The ability to grab, hold, and manipulate objects is a vital and fundamental operation in biological and engineer-ing systems. Here, we present a soft gripper using a simple material system that enables precise and rapid grasp-ing, and can be miniaturized, modularized, and remotely actuated. This soft gripper is based on kirigami shells-thin, elastic shells patterned with an array of cuts. The kirigami cut pattern is determined by evaluating the shell's mechanics and geometry, using a combination of experiments, finite element simulations, and theoret-ical modeling, which enables the gripper design to be both scalable and material independent. We demonstrate that the kirigami shell gripper can be readily integrated with an existing robotic platform or remotely actuated using a magnetic field. The kirigami cut pattern results in a simple unit cell that can be connected together in se -ries, and again in parallel, to create kirigami gripper arrays capable of simultaneously grasping multiple delicate and slippery objects. These soft and lightweight grippers will have applications in robotics, haptics, and biomedical device design.