PFI-RP: Robotic Manipulation of Small, Delicate, and Curved Objects Using Tunable Dry Adhesion

PFI-RP：使用可调干粘附力对小型、精致和弯曲物体进行机器人操作

• 批准号: 2141089
• 负责人: Wanliang Shan
• 金额: $ 55万
• 依托单位: Syracuse University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-04-15 至 2025-03-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2141089&HistoricalAwards=false
• 关键词: PFI; RP; Robotic; Manipulation; Small

The broader impact/commercial potential of this Partnerships for Innovation - Research Partnerships (PFI-RP) project is to advance a technology that enables the robotic manipulation of small, delicate, and curved objects. Handling such objects, which are frequently encountered in precision devices and advanced electronics, in automatic assembly and packaging processes is challenging with technologies that exist today. This PFI-RP project will develop miniaturized adhesion-based grippers to address this pain point. The proposed project aims to develop miniaturized soft grippers with dynamically tunable adhesion for robotic manipulation of small, delicate, and curved objects. These soft grippers contain an active material with a stiffness that can be changed through an electrical signal to match the application. The grippers are designed such that the stiffness change leads to a change in adhesion at the contact surface. This adhesion tunability will be exploited for controllably gripping small and delicate objects. Through mechanics and thermal modeling, the soft grippers will be designed with appropriate geometry and dimensions for optimal performance on multiple metrics including response time, activation voltage, object size and weight.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这个创新-研究伙伴关系（PFI-RP）项目的更广泛的影响/商业潜力是推进一项技术，使机器人能够操纵小型，精致和弯曲的物体。在自动组装和包装过程中处理精密设备和先进电子产品中经常遇到的此类物体对于当今存在的技术来说是具有挑战性的。这个PFI-RP项目将开发小型化的基于粘附的夹具来解决这个痛点。该项目旨在开发具有动态可调粘附力的小型化软夹持器，用于小型，精致和弯曲物体的机器人操作。这些软夹持器包含一种活性材料，其刚度可以通过电信号改变以匹配应用。夹持器被设计成使得刚度变化导致接触表面处的粘附力变化。这种粘附可调性将被用于可控地夹持小而精致的物体。通过力学和热建模，软夹持器将被设计为具有适当的几何形状和尺寸，以在多个指标上实现最佳性能，包括响应时间、激活电压、物体尺寸和重量。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。