3D printed soft gripper for automatic lunch box packing

Wang, Zhongkui; Chathuranga, Damith Suresh; Hirai, Shinichi

doi:10.1109/robio.2016.7866372

Cited by 80 publications

(21 citation statements)

References 11 publications

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“…Apart from these two categories into which the four grippers described in this research fall, many other technologies have been used: electro-adhesion [ 29 , 30 , 31 ], Gecko-adhesion [ 32 , 33 ], dielectric elastomer actuators (DEAs) [ 34 , 35 , 36 , 37 ], fluidic elastomer actuators (FEAs) [ 38 , 39 ], magnetorheological (MR) fluid [ 40 ], and shape-memory materials [ 41 ]. In some cases, two different types of actuation are implemented in the same gripper to allow stable and reliable grasping under different working environments as in [ 42 ], which presents the combination of the suction and traditional linkage-driven grippers or in [ 18 ], which presents the integration of an electro-adhesive system and a pneumatic actuator.…”

Section: Related Workmentioning

confidence: 99%

Comparison of Different Technologies for Soft Robotics Grippers

Terrile

Argüelles

Barrientos

2021

Sensors

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Soft grippers have experienced a growing interest due to their considerable flexibility that allows them to grasp a variety of objects, in contrast to hard grippers, which are designed for a specific item. One of their most remarkable characteristics is the ability to manipulate soft objects without damaging them. This, together with their wide range of applications and the use of novels materials and technologies, renders them a very robust device. In this paper, we present a comparison of different technologies for soft robotics grippers. We fabricated and tested four grippers. Two use pneumatic actuation (the gripper with chambered fingers and the jamming gripper), while the other two employ electromechanical actuation (the tendon driver gripper and the gripper with passive structure). For the experiments, a group of twelve objects with different mechanical and geometrical properties have been selected. Furthermore, we analyzed the effect of the environmental conditions on the grippers, by testing each object in three different environments: normal, humid, and dusty. The aim of this comparative study is to show the different performances of different grippers tested under the same conditions. Our findings indicate that we can highlight that the mechanical gripper with a passive structure shows greater robustness.

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Section: Related Workmentioning

confidence: 99%

Comparison of Different Technologies for Soft Robotics Grippers

Terrile

Argüelles

Barrientos

2021

Sensors

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“…A soft robotic gripper with enhanced object adaptation and grasping reliability was also proposed in ( Zhou et al, 2017 ), and it was experimentally tested by grasping various objects including fruits and foot materials. Wang et al proposed a series of grippers for handling food and agricultural products, such as a 3D printable soft gripper and a pre-stressed gripper for packaging lunch boxes ( Wang et al, 2016 ; Wang et al, 2017 ), a wrapping gripper for handling granular foods ( Kuriyama et al, 2019 ), a circular shell gripper for grasping and twisting ( Wang et al, 2020a ), a soft gripper equipped with suction cups to realize both grasping and suction modes ( Wang et al, 2020b ), a needle gripper for grasping chopped food material, such as salads, and eliminating defective products by piercing ( Makiyama et al, 2020 ), and a parallel shell gripper for packaging multiple cucumbers simultaneously ( Kanegae et al, 2020 ).…”

Section: Introductionmentioning

confidence: 99%

A Scooping-Binding Robotic Gripper for Handling Various Food Products

et al. 2021

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Food products are usually difficult to handle for robots because of their large variations in shape, size, softness, and surface conditions. It is ideal to use one robotic gripper to handle as many food products as possible. In this study, a scooping-binding robotic gripper is proposed to achieve this goal. The gripper was constructed using a pneumatic parallel actuator and two identical scooping-binding mechanisms. The mechanism consists of a thin scooping plate and multiple rubber strings for binding. When grasping an object, the mechanisms actively makes contact with the environment for scooping, and the object weight is mainly supported by the scooping plate. The binding strings are responsible for stabilizing the grasping by wrapping around the object. Therefore, the gripper can perform high-speed pick-and-place operations. Contact analysis was conducted using a simple beam model and a finite element model that were experimentally validated. Tension property of the binding string was characterized and an analytical model was established to predict binding force based on object geometry and binding displacement. Finally, handling tests on 20 food items, including products with thin profiles and slippery surfaces, were performed. The scooping-binding gripper succeeded in handling all items with a takt time of approximately 4 s. The gripper showed potential for actual applications in the food industry.

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“…The high adaptability of soft robotic grippers indeed increased the performance in grasping delicate food products with lower contact pressure, yet the precise modeling and robustness are very challenging compared to rigid grippers [13]. In addition, most grasping tasks with soft grippers are enabled by power grasp, which disabled the capability for in-hand and precision manipulation [14]. Specialized grasping technologies based on airflow such as suction cups and Bernoulli principle grippers are possible to handle objects with different sizes and work with multiple objects at the same time [15], [8].…”

Section: Introductionmentioning

confidence: 99%

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

Abad

et al. 2020

IEEE Robot. Autom. Lett.

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Soft fingertips have shown significant adaptability for grasping a wide range of object shapes thanks to elasticity. This ability can be enhanced to grasp soft, delicate objects by adding touch sensing. However, in these cases, the complete restraint and robustness of the grasps have proved to be challenging, as the exertion of additional forces on the fragile object can result in damage. This paper presents a novel soft fingertip design for delicate objects based on the concept of embedded air cavities, which allow the dual ability of tactile sensing and active shapechanging. The pressurized air cavities act as soft tactile sensors to control gripper position from internal pressure variation; and active fingertip deformation is achieved by applying positive pressure to these cavities, which then enable a delicate object to be kept securely in position, despite externally applied forces, by form closure. We demonstrate this improved grasping capability by comparing the displacement of grasped delicate objects exposed to high-speed motions. Results show that passive soft fingertips fail to restrain fragile objects at accelerations as low as 0.1 m/s 2 , in contrast, with the proposed fingertips delicate objects are completely secure even at accelerations of more than 5 m/s 2 .

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3D printed soft gripper for automatic lunch box packing

Cited by 80 publications

References 11 publications

Comparison of Different Technologies for Soft Robotics Grippers

Comparison of Different Technologies for Soft Robotics Grippers

A Scooping-Binding Robotic Gripper for Handling Various Food Products

Soft Fingertips With Tactile Sensing and Active Deformation for Robust Grasping of Delicate Objects

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