This paper presents a further investigation of a novel adaptive soft robotic gripper with integrated active elements, i.e. sensors and actuators. In many contemporary robotic applications, there is a great need to grasp differently shaped and sized objects as well as objects of different stiffness or soft objects. Grippers based on classical rigid-body mechanisms cannot safely manipulate with such a wide variety of objects, as they are stiff and not adaptive. Adaptive gripper proposed here is based on elastic active compliant mechanisms. Via integrated sensors, and actuators active smart gripper changes the shape of its grasping surface and adapts to the object of unknown shape. Concept of a two-finger gripper and a functional prototype of one gripper finger are presented. Sensors are formed by using conductive graphite foam. The machine learning models of tactile foam sensors are presented. Actuators are formed by using a shape memory alloy wire nitinol. It is demonstrated that developed soft gripper concept with integrated active elements can realize multiple grasping patterns. Many potential applications in robotics are foreseen for the novel smart adaptive gripper. ; Post-print / Final draft


    Access

    Download


    Export, share and cite



    Title :

    Novel Smart and Compliant Robotic Gripper: Design, Modelling, Experiments and Control



    Publication date :

    2019-10-10


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    COMPLIANT CONCAVE GRIPPER FOR ROBOTIC GRASPING

    DE AVIK / KENNEALLY GAVIN / TOPPING THOMAS | European Patent Office | 2024

    Free access

    Viselike Robotic Gripper

    Vranish, John M. | NTRS | 1991


    Robotic gripper mechanism

    MALSTROM CHARLES RANDALL / SOLANKI SWAPNILSINH | European Patent Office | 2017

    Free access

    A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

    Milojević, Andrija / Linß, Sebastian / Ćojbašić, Žarko et al. | BASE | 2020

    Free access

    Compliant inner lip on a vacuum gripper

    WILSON II JAMES D / BRANDRIFF MATTHEW | European Patent Office | 2023

    Free access