Design and analysis of an origami-based three-finger manipulator

Jeong, Donghwa; Lee, Kiju

doi:10.1017/s0263574717000340

Cited by 87 publications

(35 citation statements)

References 21 publications

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“…They employed a silicone elastomer (Dow Corning Sylgard 186) to realize an entirely compliant structure. Other researchers also demonstrated soft cable‐driven grippers by placing cables inside an elastomeric bag, textiles, and origamis, similar to continuum tendon‐driven manipulators . Calisti et al demonstrated the grasping of a pencil and screws by a tendon‐driven elastomeric manipulator inspired by the Octopus arm (Figure h), which was later implemented in a robot capable of locomotion and object manipulation .…”

Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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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.

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Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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“…It generates continuous bending, twisting, and linear motions via structural reconfiguration, and its linear extension-to-contraction ratio can reach over 4:1. Utilizing these unique structural properties, twisted towers were used for various robotic applications, including reconfigurable origami wheels [1], a crawling robot [2], and a robotic manipulator arm [3]. In particular, the three-finger robotic manipulator presented in [3] used the hand-folded twisted towers for its arm and fingers, demonstrating object manipulation capabilities.…”

Section: Introductionmentioning

confidence: 99%

TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower

2020

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This article presents a new cable-driven underactuated robotic gripper, called TWISTER Hand. It is designed for adaptable grasping of objects in different shapes, weights, sizes, and textures. Each finger of the gripper is made of a compliant and continuum mechanism inspired by an origami design. This design is converted into a computer-aided design (CAD) model and 3-D printed using flexible and rigid polymer composite materials. Two CAD modeling methods for this design are compared in terms of structural stiffness and durability in the printed outcomes. For each design, two soft materials are used for preliminary evaluation of the material effect in these properties. The best combination of the model and material is selected to fabricate the three fingers of the robotic gripper. Each finger has a single cable routed along the structure. All three cables are tied and actuated simultaneously using a single servo motor to generate closing and opening motions in the gripper. TWISTER Hand's adaptable grasping capability is tested using 36 different objects. The robot's grasping performance under object pose uncertainties is also experimentally tested and analyzed. This compact fully integrated gripper can be attached to a robotic arm for various manipulative tasks.

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“…Based on the Kresling origami structure, Pagano et al designed a crawling robot that performs both linear and turning movements [21]. Jeong et al designed a cable-driven three-finger robot based on the twisted tower origami structure, which has the potential to grab fragile items [22]. Fang et al designed an earthworm-like robot based on an origami ball that could achieve effective locomotion [23].…”

Section: Introductionmentioning

confidence: 99%

A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori

Meng

Yang

et al. 2020

Actuators

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Origami structures are highly demanded for engineering applications. Using origami folding to design and actuate mechanisms and machines offers attractive opportunities. In this paper, we design a crawling robot driven by pneumatic foldable actuators (PFAs) based on Miura-ori, according to the parallel foldable structure and different control patterns, which can perform different movements. The PFA inspired from Miura-ori is composed of a folding part, transition part, and sealing part, made by flexible materials and a paper skeleton. This actuator can obtain a large deformation by folding under negative pressure due to its own characteristics, and the relationship between deformation and pressure is analyzed. According to the different folding and unfolding times of left and right actuators, the crawling robot can perform both linear and turning movements. The speed of the robot is about 5 mm/s and it can turn at a speed of about 15°/s. The crawling robot uses the ability of the foldable structure to cope with the challenges of different environments and tasks.

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Design and analysis of an origami-based three-finger manipulator

Cited by 87 publications

References 21 publications

Soft Robotic Grippers

Soft Robotic Grippers

TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower

A Crawling Soft Robot Driven by Pneumatic Foldable Actuators Based on Miura-Ori

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