A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling
A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling
复制标题
DOI：
10.1109/lra.2017.2714141
复制
发表时间：
2017-10-01
影响因子：
5.2
通讯作者：
Hirai, Shinichi
中科院分区：
文献类型：
--
作者：
Wang, Zhongkui;Torigoe, Yuuki;Hirai, Shinichi
提出了一种利用三维打印技术制造的预应力柔性夹持器。该夹持器在抓取时可以实现大的接触面积，同时产生大的初始开口，而不会使软致动器放气。软致动器被3D打印为两个独立的部分：带有刚性连接器的软腔室和密封腔室的盖。腔室部分被纵向拉伸，并通过将盖粘在其上来密封。然后释放致动器，并且由于剩余的预应力而发生初始卷曲。有限元（FE）模拟进行验证这一概念和设计的结构。驱动器的制造和实验测试，并实现之间的有限元模拟和测试结果的协议。摘要设计了一种由四个预应力驱动器组成的夹持器，并对不同重量、不同尺寸的容器进行了夹持实验。为了适应不同尺寸和形状的物体，夹持器底座设计为具有两种配置和两个开口。结果表明，预应力夹持器能够稳定地夹持各种类型的食物，并且保持紧凑，具有简单的支撑系统。
This study presented a prestressed soft gripper fabricated with 3-D printing technology. The gripper can realize a large contact area while grasping and simultaneously generate large initial opening without deflating the soft actuators. The soft actuator was 3-D printed as two separate parts: the soft chambers with a rigid connector and a cover to seal the chambers. The chamber part was stretched longitudinally and sealed by gluing the cover onto it. The actuator was then released, and an initial curl occurred due to the remaining prestress. Finite element (FE) simulations were performed to validate this concept and the designed structure. Actuator fabrication and experimental tests were presented, and agreements between the FE simulations and test results were achieved. A gripper consisting of four prestressed actuators was constructed and experimentally tested by picking-and-placing food materials in different weights and different sized containers. To adapt to objects of different sizes and shapes, the gripper base was designed to have two configurations and two openings. The results showed that the prestressed gripper could stably handle various types of food and still remain compact with a simple supporting system.