Investigation on a soft grasping gripper based on dielectric elastomer actuators

Pourazadi, Shahram; Bui, Huythong; Menon, Carlo

doi:10.1088/1361-665x/aaf767

Cited by 30 publications

(16 citation statements)

References 30 publications

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“…One bending actuator functions as a DE finger, and the DE gripper consists of three bending actuators. Recently, a new gripper structure with a cylindrical chamber was developed [98]. On the inner side of the chamber, there are four balloon-shaped DEAs.…”

Section: Appl Sci 2019 9 X For Peer Review 13 Of 32mentioning

confidence: 99%

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

et al. 2020

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This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft robots. This paper begins with the introduction of the working principle of the dielectric elastomer actuators. Because the operation of DEA includes the physics of both mechanical viscoelastic properties and dielectric characteristics, we describe theoretical modeling methods for the DEA before introducing applications. In addition, the design of artificial muscles based on DEA is also introduced. This paper reviews four popular subjects for the application of DEA: soft robot hand, locomotion robots, wearable devices, and tunable optical components. Other potential applications and challenging issues are described in the conclusion.

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Section: Appl Sci 2019 9 X For Peer Review 13 Of 32mentioning

confidence: 99%

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

et al. 2020

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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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“…Soft robotic grippers are one of the research areas in the field of soft robots. Scholars have created various soft robotic grippers with different drive modes [5][6][7], including pneumatic actuation [8][9][10][11], cabledriven actuation [12], shape memory alloys actuation [13][14][15], and electroactive polymers actuation [16][17][18]. Pneumatic actuation has been widely studied due to its advantages of a large driving force, a fast response speed, and convenient and safe gas source acquisition.…”

Section: Introductionmentioning

confidence: 99%

A Pneumatic Novel Combined Soft Robotic Gripper with High Load Capacity and Large Grasping Range

Wang

Zhang

et al. 2021

Actuators

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Pneumatic soft grippers have been widely studied. However, the structures and material properties of existing pneumatic soft grippers limit their load capacity and manipulation range. In this article, inspired by sea lampreys, we present a pneumatic novel combined soft gripper to achieve a high load capacity and a large grasping range. This soft gripper consists of a cylindrical soft actuator and a detachable sucker. Three internal air chambers of the cylindrical soft actuator are inflated, which enables them to hold objects. Under vacuum pressure, the cylindrical soft actuator and the detachable sucker can both adsorb objects. A finite element model was constructed to simulate three inflation chambers for predicting the grasping range of the cylindrical soft actuator. The validity of the finite element model was established by an experiment. The mechanism of holding force and adsorption force were analyzed. Several groups of experiments were conducted to determine adsorption range, holding force, and adsorption force. In addition, practical applications further indicated that the novel combined soft gripper has a high load capacity (10.85 kg) at a low pressure (16 kPa) and a large grasping range (minimum diameter of the object: d = 6 mm), being able to lift a variety of objects with different weights, material properties, and shapes.

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Investigation on a soft grasping gripper based on dielectric elastomer actuators

Cited by 30 publications

References 30 publications

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

Comparison of Different Technologies for Soft Robotics Grippers

A Pneumatic Novel Combined Soft Robotic Gripper with High Load Capacity and Large Grasping Range

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