An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size
An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size
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DOI：
10.1109/lra.2018.2847403
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Paik, Jamie
中科院分区：
文献类型：
--
作者：
Zhakypov, Zhenishbek;Heremans, Florian;Paik, Jamie
夹持器的适应性，以处理不同形状和大小的物体带来了高度的灵活性，操作。抓取扁平、圆形或狭窄的物体对最复杂的机器人抓取器也构成了挑战。在各种夹持器技术中，真空抽吸夹持器提供了设计简单性，但成本低的多功能性;然而，它们的应用限于其固定的形状和尺寸。在这里，我们提出了一个折纸启发可重构的吸力抓手，以解决与机器人吸力抓手的适应性。该夹持器由刚性和柔性部件构成，由紧凑的形状记忆合金驱动器驱动，可以有效地自折叠成三种形状模式，以拾取大小扁平、窄圆柱形、三角形和球形物体。10克数厘米的抓爪可提升高达5 N的负载，是其重量的50倍。我们还提出了一个欠驱动的原型，展示了我们的设计和驱动方法的多功能性。
Gripper adaptability to handle objects of different shape and size brings high flexibility to manipulation. Gripping flat, round, or narrow objects poses challenges to even the most sophisticated robotic grippers. Among various gripper technologies, the vacuum suction grippers provide design simplicity, yet versatility at low cost; however, their application is limited to their fixed shape and size. Here, we present an origami-inspired reconfigurable suction gripper to address adaptability with robotic suction grippers. Constructed from rigid and soft components and driven by compact shape memory alloy actuators, the gripper can effectively self-fold into three shape modes to pick large and small flat, narrow cylindrical, triangular and spherical objects. The 10-g few centimeters gripper lifts loads up to 5 N, 50 times its weight. We also present an underactuated prototype, demonstrating the versatility of our design and actuation methods.