A dual-mode and enclosing soft robotic gripper with stiffness-tunable and high-load capacity

Hu, Tete; Lu, XinJiang; Du, Xiaoyong

doi:10.1016/j.sna.2023.114294

Cited by 11 publications

(10 citation statements)

References 53 publications

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“…Although it has addressed the issues arising from the nature of adhesion contact surfaces to a certain extent, effectively grasping objects in unstructured environments still poses challenges [35,37,42,165].…”

Section: Pcmentioning

confidence: 99%

“…In this mode, the contact surface adapts to the object's shape variations in different dimensions, providing extensive coverage. Lastly, the fourth mode is FBC, represented by multi-angle, all-around encasement [15,[41][42][43][165][166][167][168][169][170][171][172][173][174][175][176] or continuous winding grasping [40,[177][178][179][180][181][182][183][184][185][186][187][188][189][190][191][192][193], aiming to achieve contact with the object over the largest possible area and multiple angles. These different contact and motion modes possess unique advantages of their own, and they are not mutually exclusive.…”

Section: Introductionmentioning

confidence: 99%

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Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules.To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC), elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

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Section: Pcmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

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“…Meanwhile, as an alternative solution to overcome the shortcomings of the fingered grippers, the latter representing a fingerless gripper can process more area of surface contact with the object, allowing for highly compliant interaction with arbitrary shapes of the objects. [5,[13][14][15][16] In addition to this gripper taxonomy, from a material perspective, hyperelastic materials can offer new designs for soft grippers. By leveraging the instinct properties of hyperelastic materials, soft grippers can handle various objects while maintaining safe and compliant interactions with their environment.…”

Section: Introductionmentioning

confidence: 99%

“…In general, a reverse moment (or force) at the contact point pushes the finger away from the object, which induces unstable grasping mainly due to the ineffective elimination of the gap between the finger and the object. [ 13 ] More importantly, this type of robotic fingered grippers should identify their postures (i.e., position, orientation) to implement a feasible grasping solution, [ 14 ] resulting in a high computational load in control. Meanwhile, as an alternative solution to overcome the shortcomings of the fingered grippers, the latter representing a fingerless gripper can process more area of surface contact with the object, allowing for highly compliant interaction with arbitrary shapes of the objects.…”

Section: Introductionmentioning

confidence: 99%

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Topologically Optimized Fingerless Versatile Gripper Actuated by a Shape Memory Alloy Coiled Garter Spring

et al. 2023

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The rapid advancements in 3D printing technologies offer immense design flexibility and the ability to create complex structures with high resolution. Using these cutting‐edge technologies and materials (i.e., a polylactic acid and fused deposition modeling), a novel design principle is introduced for a fingerless gripper, achieved through topological optimization. To realize the grasping capabilities, a coiled garter spring made of shape memory alloy (SMA) is incorporated at the end of the flexure beams. Based on the experiments, it is found that the gripper is very quick to respond, taking only 5 s to heat up and 15 s to cool down. This promising performance is achieved by carefully balancing the net force differential between the restoring force of the flexure beam and the force of the SMA coiled garter spring. In addition to its responsiveness, the gripper demonstrates a high force‐to‐weight ratio of 5.3, allowing it to lift heavy payloads of up to 4.91 N (0.5 kgf) despite its lightweight design (total weight of 94.2 g). Overall, this work showcases the potential of 3D printed fingerless grippers in terms of high holding strength, lightweight, low cost, and simple fabrication.

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Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

Hu,

Lu,

et al. 2024

Sci. China Technol. Sci.

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A dual-mode and enclosing soft robotic gripper with stiffness-tunable and high-load capacity

Cited by 11 publications

References 53 publications

Variable stiffness soft robotic gripper: design, development, and prospects

Variable stiffness soft robotic gripper: design, development, and prospects

Topologically Optimized Fingerless Versatile Gripper Actuated by a Shape Memory Alloy Coiled Garter Spring

Biomimetic soft robotic wrist with 3-DOF motion and stiffness tunability based on ring-reinforced pneumatic actuators and a particle jamming joint

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