Disposable Soft Robotic Gripper Fabricated from Ribbon Paper with a Few Steps of Origami Folding
Disposable Soft Robotic Gripper Fabricated from Ribbon Paper with a Few Steps of Origami Folding
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由带纸制成的一次性软机器人抓手，经过几步折纸折叠
DOI：
10.1109/icmt56556.2022.9997672
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
S.
中科院分区：
文献类型：
--
作者：
Ando;N.;Takahashi;K.;Mikami;S.
提出了一种易于制作的用于食品操作的纸制机器人手爪。夹持器是由丝带纸在几十秒内制成的，只需折叠和接合，无需粘合剂。该手爪构成四连杆欠驱动机构，实现了类人手指的抓取。只需将夹持器边缘滑动到旋转电机的轴缝中，夹持器就可以立即连接到机器人上并从机器人上拆卸下来。因此，期望实现实际上一次性的夹持器。通过多次抓取食物的实验，验证了该夹持器的可靠性和耐用性。夹持器的弹簧效应，自然地由纸材料提供，被证明可以牢固地夹持光滑和不规则形状的食物。
An easy-to-make paper-crafted robotic gripper for food manipulation was proposed. The gripper is fabricated from ribbon paper in a few tens of seconds only by folding and engaging without adhesives. The gripper forms a four-linkage underactuated mechanism which realizes human-finger-like grasping. Simply sliding a gripper edge into a shaft slit of a rotational motor, the gripper is instantly attached and detached from a robot. Therefore, it is expected to realize a practically disposable gripper. By experiments of repeatedly grasping some foods, the reliability and durability of the gripper were shown. The gripper’s spring effect, naturally given by paper material, was shown to hold slippery and irregular-shaped foods firmly.