A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling

Wang, Zhongkui; Torigoe, Yuuki; Hirai, Shinichi

doi:10.1109/lra.2017.2714141

Cited by 228 publications

(102 citation statements)

References 24 publications

Supporting

Mentioning

102

Contrasting

Order By: Relevance

“…A customized 3D printer (layer resolution 0.1 mm) using fusion deposition molding of a commercial thermoplastic elastomer, was used to fabricate a four‐fingered gripper, able to lift a chair of 3.2 kg of mass . Another 3D printed gripper performed handling of different types of food filled in paper containers . Patel et al and Thrasher et al demonstrated a 3‐fingered gripper made of UV curable elastomers that are 3D printed through digital light processing.…”

Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

View full text Add to dashboard Cite

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

show abstract

Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

View full text Add to dashboard Cite

show abstract

“…To overcome these limitations, there has been significant progress in the development of soft grippers in recent years. Numerous materials and actuation methods have been used to build soft grippers, such as grippers made from electroactive polymers [8], electrostatic grippers [9], [10], magnetorheological fluidbased grippers [11], [12], underactuated compliant grippers [13]- [15], auxetic-structure-based grippers [16], [17], and pneumatically-driven elastomer or rubber grippers [18]- [25].…”

Section: Introductionmentioning

confidence: 99%

A Vacuum-driven Origami “Magic-ball” Soft Gripper

Stampfli

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

205

102

View full text Add to dashboard Cite

Soft robotics has yielded numerous examples of soft grippers that utilize compliance to achieve impressive grasping performances with great simplicity, adaptability, and robustness. Designing soft grippers with substantial grasping strength while remaining compliant and gentle is one of the most important challenges in this field. In this paper, we present a lightweight , vacuum-driven soft robotic gripper made of an origami "magic-ball" and a flexible thin membrane. We also describe the design and fabrication method to rapidly manufacture the gripper with different combinations of lowcost materials for diverse applications. Grasping experiments demonstrate that our gripper can lift a large variety of objects, including delicate foods, heavy bottles, and other miscellaneous items. The grasp force on 3D-printed objects is also characterized through mechanical load tests. The results reveal that our soft gripper can produce significant grasp force on various shapes using negative pneumatic pressure (vacuum). This new gripper holds the potential for many practical applications that require safe, strong, and simple grasping.

show abstract

“…If it is FPR mode, limit the output pressure of proportional valve according to equation (14). Then, regulate pressure of solenoid valve.…”

Section: The Mc-hvpc Methodsmentioning

confidence: 99%

A novel mode controllable hybrid valve pressure control method for soft robotic gripper

Huang

Lin

et al. 2018

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Compared with traditional rigid gripper with joint-linkage structure, novel soft robotic gripper gives rise to continuous concern for the advantages of no-damage grasping, convenient manufacture, easy control, and low cost. In this study, we design and built two kinds of soft robotic grippers with four fiber-reinforced soft actuators which are distributed in circular and rectangle shapes for single and twin contacts grasping. A novel hybrid valve pneumatic control scheme combining proportional and solenoid valves is proposed. Also, a mode controllable hybrid valve pressure control method is proposed to adjust internal pressure of soft robotic grippers to adapt to different grasping tasks. The experiment results verify that the performances of hybrid valve outperform those of individual proportional valve or solenoid valve in the aspects of response time and steady-state accuracy. The hybrid valve has wide range of pressure regulation, result in that the soft robotic grippers are qualified to grasp various objects with different shapes, sizes, and weights.

show abstract

A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling

Cited by 228 publications

References 24 publications

Soft Robotic Grippers

Soft Robotic Grippers

A Vacuum-driven Origami “Magic-ball” Soft Gripper

A novel mode controllable hybrid valve pressure control method for soft robotic gripper

Contact Info

Product

Resources

About