Fire-Resistant Deformable Soft Gripper Based on Wire Jamming Mechanism

Tadakuma, Kenjiro; Fujimoto, Toshiaki; Watanabe, Masahiro; Shimizu, Tori; Takane, Eri; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1109/robosoft48309.2020.9116036

Cited by 21 publications

(5 citation statements)

References 6 publications

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“…Note that, some objects (no. 2,4,6,10,12,13,16,20,22,23,24,27,28,31) have different parts with different widths that the soft and rigid grippers can successfully grasp. grasp the object, after which the arm transfers the object to the placing spot, and the gripper releases it.…”

Section: Experiments 4: Use Case Demonstrationsmentioning

confidence: 99%

“…The jammingbased gripper also utilizes friction, suction, and interlocking mechanisms to create a strong gripping force. However, the gripper can be destroyed or torn if it touches the sharp part of the grasped object unless a special material or complex structure design with string jamming is applied [23]. Since jamming-based and soft grippers require vacuum and inflation pressure, the use of an external air compressor and a vacuum pump is inevitable.…”

Section: Introductionmentioning

confidence: 99%

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Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

Phodapol

Harnkhamen

Asawalertsak

et al. 2023

IEEE Robot. Autom. Lett.

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Grasping multiple object types (versatile object grasping) with a single gripper is always a challenging task in robotic manipulation. Different types of grippers, including rigid and soft, have been developed to try to achieve the task. However, each gripper type is still restricted to specific object types. In nature, many insects can be observed to use only one tarsus mechanism to cope with several tasks. They have a very high grasping capability with objects and can adhere to a variety of surface types. Inspired by insect tarsus, this paper proposes a novel underactuated, single cable-driven, compliant gripper design. The structure of the gripper is based on the hornet tarsus morphology with a proportional scale. An additional pulley-like structure is introduced to increase the generated grasping torque. To maintain the ability to automatically rebound back to the original position, a torsion spring is implemented at each joint. In order to stably grasp and hold objects, soft adhesive pads with an asymmetric sawtooth-like surface structure are attached at the tarsus segments. The performance of this insect tarsusinspired gripper with the soft pads is evaluated by grasping 35 different objects of various sizes, shapes, and weights for comparison with industrial soft and rigid grippers. The proposed gripper shows a 100% success rate in grasping all objects, while the soft and rigid gripper success rates are 81.90% and 91.43% on average, respectively. We finally demonstrate the use of our gripper installed on a robot arm for pick-and-place and pouring tasks.

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Section: Experiments 4: Use Case Demonstrationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

Phodapol

Harnkhamen

Asawalertsak

et al. 2023

IEEE Robot. Autom. Lett.

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“…Equation ( 12) is the deflection equation of three-point bending in the pre-slip stage. Substituting (12) into the equation ( 4) we can have:…”

Section: Variable Stiffness Model Of the Three-point Bending Casementioning

confidence: 99%

“…Electrorheological/magnetorheological fluids/elastomers are major rheological materials. Variable stiffness structures mainly use jamming (pressure or force driven friction tuning) [1][2][3][4]7] to realize stiffness modulation and jamming structures include particle jamming [8,9], layer jamming [10,11], wire jamming [12], and fibre jamming [13].…”

Section: Introductionmentioning

confidence: 99%

On variable stiffness of flexible parallel electroadhesive structures

Yuan

Guo

et al. 2023

Smart Mater. Struct.

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Electrostatic layer jamming represents a lightweight, low energy consumption, electrically tunable, and cost-effective variable stiffness structure. Flexible parallel electroadhesive structures are the simplest form of electrostatic layer jamming. There is a lack of comprehensive and experimentally validated theoretical variable stiffness models of flexible parallel electroadhesive structures. Here we present the first variable stiffness model of flexible parallel electroadhesive structures under three-point bending, cantilever beam bending subjected to tip concentrated forces, and cantilever beam bending subjected to uniformly distributed forces, using the Euler–Bernoulli beam theory and considering friction and slip between layers by integrating the Maxwell stress tensor into the model. We find that: 1) three-point bending and cantilever beam bending under tip concentrated forces only have pre-slip and full-slip, whereas cantilever beam bending under uniformly distributed forces has an additional partial-slip which can be used for stiffness modulation; 2) the stiffness during the pre-slip stage is four times larger than the stiffness in the full-slip stage; and 3) increasing the voltage, dielectric permittivity, and coefficient of friction can elongate the pre-slip stage, thus enhancing the structural load capability. A customized three-point bending and a cantilever beam bending experimental setup were developed and the experimental deflection–force curve agreed relatively well with the theoretical one. The model, which considered electrode thickness and Young’s modulus, and the results presented in this work are useful insights for understanding the variable stiffness mechanism of electroadhesive layer jamming and are helpful for their structural optimization towards practical applications.

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“…2) The robot arm with a fire-resistant hand was operated remotely using the "Successor" robot system developed by Kawasaki Heavy Industries, Ltd. (Kawasaki Heavy Industries, Ltd, 2017). The fire-resistant hand (Tadakuma et al, 2020) grasped the fireball and ignited the torch. 3) The fireballs remained on fire and were subsequently extinguished by the DFF, a flying fire hose with improved reliability, as described below.…”

Section: Opening Ceremonymentioning

confidence: 99%

Development of a remotely controllable 4 m long aerial-hose-type firefighting robot

Yamauchi,

Maezawa,

Ambe

et al. 2023

Front. Robot. AI

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In a fire outbreak, firefighters are expected to rapidly extinguish fires to stop the spread of damage and prevent secondary disasters. We proposed the concept of a dragon firefighter (DFF), which is a flying-hose-type firefighting robot. We developed a 3.6 m long DFF equipped with two nozzle units and achieved stable flight. However, the system was not yet completed because the root of the robot, which should have been operated remotely, was operated manually. In addition, the system’s reliability was insufficient to successfully repeat the demonstration several times. The development of a robot demonstration system is crucial for the practical application of such a firefighting robot. In this study, we developed a demonstration system for a remotely controllable 4 m flying firehose robot for demonstration at the World Robot Summit 2020 (WRS 2020) opening ceremony in Fukushima as a milestone. This paper focuses on the following issues: 1): installation of the remotely controllable mobile base, 2): redesign of the water channels (the sizes of nozzle outlets) to get enough thrusts to fly with a fire engine, 3): development of nozzle units with a larger movable range (1.5 times larger than the conventional nozzle) in addition to waterproofing technique to improve system reliability, and 4): redesign of a passive damping mechanism to ensure better stability. Thus, a firefighting demonstration was successfully conducted at the opening ceremony of the World Robot Summit 2020 in Fukushima, Japan, and we discuss the lessons learned through the demonstration. We found that the developed DFF system incorporating a mobile base could achieve remote fire extinguishing.

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Fire-Resistant Deformable Soft Gripper Based on Wire Jamming Mechanism

Cited by 21 publications

References 6 publications

Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

On variable stiffness of flexible parallel electroadhesive structures

Development of a remotely controllable 4 m long aerial-hose-type firefighting robot

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