A Soft-Robotic Gripper With Enhanced Object Adaptation and Grasping Reliability

被引：217
作者：
Zhou, Jianshu [1 ]
Chen, Shu [1 ]
Wang, Zheng [1 ,2 ]
机构：
[1] Univ Hong Kong, Dept Mech Engn, Hong Kong, Hong Kong, Peoples R China
[2] HKU Shenzhen Inst Res & Innovat, Shenzhen 518000, Peoples R China
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 04期
关键词：
Soft robotics; grasping; pneumatic actuators; DESIGN;
D O I：
10.1109/LRA.2017.2716445
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A novel soft-robotic gripper design is presented, with three soft bending fingers and one passively adaptive palm. Each soft finger comprises two ellipse-profiled pneumatic chambers. Combined with the adaptive palm and the surface patterned feature, the soft gripper could achieve 40-N grasping force in practice, 10 times the self-weight, at a very low actuation pressure below 100 kPa. With novel soft finger design, the gripper could pick up small objects, as well as conform to large convex-shape objects with reliable contact. The fabrication process was presented in detail, involving commercial-grade three-dimensional printing and molding of silicone rubber. The fabricated actuators and gripper were tested on a dedicated platform, showing the gripper could reliably grasp objects of various shapes and sizes, even with external disturbances.
引用
收藏
页码：2287 / 2293
页数：7
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