A Soft-Touch Gripper for Grasping Delicate Objects

被引：64
作者：
Krahn, Jeffrey M. [1 ,2 ]
Fabbro, Francesco [1 ]
Menon, Carlo [1 ]
机构：
[1] Simon Fraser Univ, Sch Engn Sci, MENRVA Res Grp, Burnaby, BC V5A 1S6, Canada
[2] Univ Fraser Valley, Abbotsford, BC V2S 7M7, Canada
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2017年 / 22卷 / 03期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Robotic gripper; soft gripper; DESIGN;
D O I：
10.1109/TMECH.2017.2663322
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The design of a soft-touch gripper is presented. This gripper consumes less than 60 W of power during grasp or release motions, is self-contained, inherently gentle, and can grasp delicate objects such as fruits or vegetables. The soft-touch gripper utilizes a variable-volume chamber sealed by a thin flexible latex membrane and relies on both friction between the membrane and the object being grasped, and a pressure differential between atmospheric pressure and the volume of trapped air sealed between the membrane and the object being grasped. A simplified analytical model, which can be used to estimate the grip strength of the soft-touch gripper, is developed and experimentally validated.
引用
收藏
页码：1276 / 1286
页数：11
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