A Soft Robotic Gripper With a Belt Loop Actuated Adhesion Design for Gentle Handling of Fragile Object

被引：2

作者：

Chen, Gen ^{[1
]}

Wu, Junsong ^{[2
]}

Zhang, Zijian ^{[1
]}

Zhang, Bolun ^{[2
]}

Chu, Zhongyi ^{[1
]}

Cui, Jing ^{[2
]}

机构：

[1] Beihang Univ, Sch Instrument & Optoelect Engn, Beijing 100191, Peoples R China

[2] Beijing Univ Technol, Sch Mech Engn & Appl Elect, Beijing 101100, Peoples R China

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2024年 / 9卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Grippers and other end-effectors; perception for grasping and manipulation; DRY; MICROPILLARS;

D O I：

10.1109/LRA.2024.3414248

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This study presents a soft gripper incorporating a novel belt loop actuated adhesion design, offering a comprehensive solution for the fabrication, variable-scale actuation, and contact sensing of directional adhesives. The solution facilitates high-resolution control of directional adhesives with relatively low device requirements. On this basis, the gripper adopts a minimal interaction force actuation strategy, thereby enabling the maximum gentleness in handling objects. The gripper has demonstrated its non-destructiveness and efficiency on various fragile flat objects. Additionally, the sensing capabilities for adhesive pairs allow it to percept and handle unlocated objects.

引用

页码：6784 / 6791

页数：8

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