Hyppää sisältöön
    • Suomeksi
    • På svenska
    • In English
  • Suomeksi
  • In English
  • Kirjaudu
Näytä aineisto 
  •   Etusivu
  • LUTPub
  • Tieteelliset julkaisut
  • Näytä aineisto
  •   Etusivu
  • LUTPub
  • Tieteelliset julkaisut
  • Näytä aineisto
JavaScript is disabled for your browser. Some features of this site may not work without it.

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević, Andrija; Linß, Sebastian; Ćojbašić, Žarko; Handroos, Heikki (2020-11-06)

Katso/Avaa
milojevic_et_al_a_novel_simple_aam.pdf (7.701Mb)
Lataukset: 


Post-print / Final draft

Milojević, Andrija
Linß, Sebastian
Ćojbašić, Žarko
Handroos, Heikki
06.11.2020

Journal of Mechanisms and Robotics

13

1

The American Society of Mechanical Engineers ASME

School of Energy Systems

https://doi.org/10.1115/1.4048752
Näytä kaikki kuvailutiedot
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2020101684268

Tiivistelmä

In soft robotics there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness and weight without the use of sensors or vision. Various, mostly complex grippers already exist based on certain actuation concepts. However, each solution has specific limitations, especially regarding gripping different soft and delicate objects. Therefore, this paper introduces a new approach to design a simple, adaptive and versatile soft robotic two-finger gripper that is based on compliant mechanisms. More specifically, an inherently gentle touch is realized by utilizing an optimally synthesized mechanism with distributed compliance in combination with a conventional linear actuator. It is shown by FEM simulations that the gripper realizes a high force and motion transmission at the same time. Furthermore, it is demonstrated by tests with a gripper prototype that reliable, safe, and fast grasping as well as manipulation are possible for a wide variety of objects. It is shown that beside regular and stiff objects also very challenging objects can be easily gripped, e.g. small, irregular, soft, and squeezable objects like fruits, berries and vegetables. Moreover, it is confirmed that the developed compliant two-finger gripper can be used beneficially without sensors and control for differently sized and shaped objects with a comparable weight.

Lähdeviite

Milojević A., Linß S., Ćojbašić Ž., Handroos H., (2020) A novel simple, adaptive and versatile soft-robotic compliant two-finger gripper with an inherently gentle touch. Journal of Mechanisms and Robotics. DOI: 10.1115/1.4048752

Alkuperäinen verkko-osoite

https://asmedigitalcollection.asme.org/mechanismsrobotics/article-abstract/13/1/011015/1088267/A-Novel-Simple-Adaptive-and-Versatile-Soft-Robotic?redirectedFrom=fulltext
Kokoelmat
  • Tieteelliset julkaisut [1556]
LUT-yliopisto
PL 20
53851 Lappeenranta
Ota yhteyttä | Tietosuoja | Saavutettavuusseloste
 

 

Tämä kokoelma

JulkaisuajatTekijätNimekkeetKoulutusohjelmaAvainsanatSyöttöajatYhteisöt ja kokoelmat

Omat tiedot

Kirjaudu sisäänRekisteröidy
LUT-yliopisto
PL 20
53851 Lappeenranta
Ota yhteyttä | Tietosuoja | Saavutettavuusseloste