Bio-inspired Design and Research on Light Ductile Soft Grippers

被引：0
|
作者：
Guo Z. [1 ]
Ji C. [1 ]
Dou M. [1 ]
Wang X. [1 ]
机构：
[1] School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2023年 / 34卷 / 05期
关键词：
ductile; herbaceous stem; light; soft gripper; stiffener panel;
D O I：
10.3969/j.issn.1004-132X.2023.05.010
中图分类号：
学科分类号：
摘要：
In order to make grippers soft with good load capacity, inspired from the structure of the herbaceous plant stem and corolla, a spiral envelope gripper was designed similar to the corolla folding with rigidity enhancement scheme as the plant stem. Each claw actuator was spiral-curved, and the stiffener panel was embedded in each claw structure chamber to improve the output forces, with little influence on the deformation angle. The soft actuator also possessed lower hysteresis with stiffener panels. The soft gripper was fabricated, assembled and tested. The testing results show that the soft gripper is light with small closing volume, good unfolding, enveloping and load capacity were obtained, which had good gripping effectiveness for axisymmetric objects, and effective for objects that may not be manipulated by traditional grippers such as non-axisymmetric objects, except for the corolla folding motions, and the gripper may around objects to enhance gripping effectiveness. © 2023 China Mechanical Engineering Magazine Office. All rights reserved.
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页码：595 / 602
页数：7
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