A Novel Variable Stiffness Soft Robotic Gripper
A Novel Variable Stiffness Soft Robotic Gripper
复制标题
DOI：
10.1109/case49439.2021.9551616
复制
发表时间：
2020-10
期刊：
影响因子：
--
通讯作者：
Dimuthu D. K. Arachchige;Yue Chen;I. Walker;I. Godage
中科院分区：
文献类型：
--
作者：
Dimuthu D. K. Arachchige;Yue Chen;I. Walker;I. Godage
柔顺抓取是安全处理物体的关键，不仅在形状上不同，而且在力学性能上也不同。提出了一种具有解耦刚度和形状控制能力的柔性机器人夹持器，以最小的系统复杂度实现自适应抓取。拟议的柔软手指符合物体形状，便于处理不同类型，形状和大小的物体。每个软爪手指都有一个长度约束机制（一个可关节的刚性骨干），并由气动肌肉执行器提供动力。我们推导了夹持器的运动学模型，并使用经验方法将输入压力映射到刚度控制和手指弯曲变形。我们使用这些映射来演示各种抓取配置的解耦刚度和形状（弯曲）控制。我们进行了测试，以量化当抓手改变方向时握住物体时的抓手质量，当抓手受到平移和旋转运动时保持抓手的能力，以及在各种刚度和形状（弯曲）设置下从抓手中释放物体所需的外力扰动。实验结果验证了所提抓取器的性能，并说明了解耦的刚度和形状控制可以提高柔性机器人抓取器的抓取质量。
Compliant grasping is crucial for secure handling objects not only vary in shapes but also in mechanical properties. We propose a novel soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers conform to object shapes facilitating the handling of objects of different types, shapes, and sizes. Each soft gripper finger has a length constraining mechanism (an articulable rigid backbone) and is powered by pneumatic muscle actuators. We derive the kinematic model of the gripper and use an empirical approach to simultaneously map input pressures to stiffness control and bending deformation of fingers. We use these mappings to demonstrate decoupled stiffness and shape (bending) control of various grasping configurations. We conduct tests to quantify the grip quality when holding objects as the gripper changes orientation, the ability to maintain the grip as the gripper is subjected to translational and rotational movements, and the external force perturbations required to release the object from the gripper under various stiffness and shape (bending) settings. The results validate the proposed gripper's performance and show how the decoupled stiffness and shape control can improve the grasping quality in soft robotic grippers.