Electroadhesion-Based High-Payload Soft Gripper With Mechanically Strengthened Structure

被引：46

作者：

Hwang, Geonwoo ^{[1
]}

Park, Jihwan ^{[1
]}

Cortes, David Santiago Diaz ^{[2
]}

Hyeon, Kyujin ^{[1
]}

Kyung, Ki-Uk ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Daejeon 34141, South Korea

[2] Korea Adv Inst Sci & Technol, Dept Elect Engn, Daejeon 34141, South Korea

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2022年 / 69卷 / 01期

基金：

新加坡国家研究基金会;

关键词：

Grippers; Actuators; Force; Electrodes; Bending; Fingers; Grasping; Dielectric elastomer (DE); electroadhesion; gripper; robot; soft; DIELECTRIC ELASTOMERS; CHUCK;

D O I：

10.1109/TIE.2021.3053887

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article proposes a reinforced soft gripper with a mechanically strengthened electroadhesion pad and a multilayered dielectric elastomer (DE) actuator, for practical robotic application. The reinforcement of the electroadhesion pad is achieved by a metallic electrode pattern printed on a flexible polyimide film, which has a higher elastic modulus than typical soft materials. Moreover, the multilayered DE actuator is used to increase the bending force of the soft gripper. We maximize the gripper performance by optimizing design factors of the electroadhesion and multilayered DE through experimental and simulation analysis. In this study, we demonstrate dynamic picking up and placing tasks with the designed gripper assembled to a robotic manipulator. The gripper can lift and move various shaped objects 100 times heavier than the gripper's mass of 6.2 g. Moreover, the soft gripper with a large area can firmly hold 16.8 kg, with optimized specifications.

引用

页码：642 / 651

页数：10

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