Design of a Rigid-Flexible Coupling Origami Gripper

被引：2
|
作者：
Liang, Dongbo [1 ]
Gao, Yinghao [1 ]
Huang, Hailin [1 ]
Li, Bing [1 ,2 ]
机构：
[1] Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
[2] Peng Cheng Lab, Shenzhen 518055, Peoples R China
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
ROBOTIC GRIPPER;
D O I：
10.1109/ROBIO54168.2021.9739578
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 paper presents the design a pneumatic rigid-flexible coupling origami gripper. The mechanism of the gripper is designed from the waterbomb origami, and the stiffness of the gripper is increased by attaching steel sheets to the facets of the origami gripper. Then the gripper realizes the adaptivity of soft grippers and high load capacity of rigid grippers. Three pressure sensors are arranged on the gripper as its sensory system. The sensory system gives distinct responses to objects of different shapes, and therefore enables the gripper to recognize grasping objects.
引用
收藏
页码：1283 / 1287
页数：5
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