PASCAV Gripper: a Pneumatically Actuated Soft Cubical Vacuum Gripper

Tahir, Ahmad Mahmood; Zoppi, Matteo; Naselli, Giovanna Adele

doi:10.1109/remar.2018.8449863

Cited by 10 publications

(6 citation statements)

References 25 publications

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“…This design scheme is considered as the first tool to investigate its capacity to perform certain given tasks in various configurations. Alongside its application as a single unit gripper PASCAV: a Pneumatically Actuated Soft Cubic Archetypal Vacuum gripper [27], and a two-unit bio-mimetic crawling mechanism PAS-CAR: a Pneumatically Actuated Soft Cubic Archetypal Robot, this soft actuator has been employed to realize a four degree of freedom robotic mechanism PASCAM: a Pneumatically Actuated Soft Chewing Articulation Mechanism (Fig. 11).…”

Section: Scm Design Evaluation Resultsmentioning

confidence: 99%

“…The point of interest on the actuating face of the SCM is the point where the maximum deformation occurs which is to be utilized for the application of the SCM. The SCM has been evaluated as a single unit soft actuator and has been employed as a soft vacuum gripper [27]. Furthermore, thanks to the external cubical shape of the SCM, several cubes can be arranged to configure multi-unit soft systems.…”

Section: Introductionmentioning

confidence: 99%

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Design and Analysis of a Soft Pneumatic Actuator to Develop Modular Soft Robotic Systems

Tahir¹,

Zoppi²

2019

JAMRIS

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In this paper, we describe the design and analysis of a Soft Cubic Module (SCM) with a single internal pneumatically actuated chamber. The actuation chamber's shape, size and, orientation have been evaluated to realize a soft robotic actuator which can be further employed for the development of modular soft robotic systems. SCM can be easily manufactured through the molding process and it is composed of single soft material, the silicone polymer. Its external shape allows utilization of this module as a single block actuator as well as makes it easy to combine multiple SCM modules to build multiunit soft robotic systems. We consider it as our first tool to investigate whether the SCM scheme is sufficient to build soft robots which would be able to perform certain given tasks in various configurations like a soft gripper, bio-mimetic crawling mechanism or multi-axis manipulator. So far, the results obtained are encouraging in order to further develop and employ the SCM design scheme, focusing on its further geometrical optimization for both standalone configuration and assembly of multiple modules to realize novel, economic and easy to fabricate soft robotic systems.

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Section: Scm Design Evaluation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Soft Pneumatic Actuator to Develop Modular Soft Robotic Systems

Tahir¹,

Zoppi²

2019

JAMRIS

Self Cite

View full text Add to dashboard Cite

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“…These sensors offer the capability to capture essential contact information such as contact force, [132] area, [148] and grasping success rate, [40] while also providing more advanced features like texture analysis (as shown in Figure 12b) [71] and object classification. [126,141] When dealing with delicate targets in conjunction with aggressive grippers, the potential for catastrophic failure exists. In such scenarios, tactile sensors serve as a vital tool for researchers to evaluate the safety and reliability of the grasping process.…”

Section: Tactile Sensorsmentioning

confidence: 99%

Section: Soft Robotic Actuators and Designmentioning

confidence: 99%

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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Advances in material sciences, control algorithms, and manufacturing techniques have facilitated rapid progress in soft grippers, propelling their adoption in various fields. In this review article, a comprehensive overview of the design and control aspects of intelligent soft robotic grippers tailored specifically for agricultural product handling is provided. Soft grippers have emerged as a promising solution for handling delicate and fragile objects. In this article, the recent progress in various gripper design, including fluidic and mechanical grippers, is elucidated and the role of advanced control approaches in enabling intelligent functions, such as object classification and grasping condition evaluation, is explored. Moreover, the challenges and opportunities pertaining to implementation of soft grippers in the agricultural industry are thoroughly discussed. While most demonstrations of soft grippers and their control strategies remain at the experimental stage, in this article, it is aimed to provide insights into the potential applications of soft grippers in agricultural product handling, thereby inspiring future research in this field.

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“…Moreover, some soft robotic grippers use special force-and form-closure combined principles, where the gripper end-effector partially or entirely envelops the object. Examples are the gripper based on jamming granular material [65], the FlexShapeGripper [66], the gripper based on shrinking of an elastic membrane [67], the rotary-actuated self-folding gripper [68], the pressure-driven gripper with a rolling bulge [69], the vacuum-driven cubical elastomer gripper [70] or the vacuum-driven origami-based gripper [71]. Rarely, soft grippers based on a completely closed suction cup [72] or micro-fibrillar geckoadhesion [73] are suggested.…”

Section: Related Workmentioning

confidence: 99%

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević

Linß

Ćojbašić

et al. 2020

Journal of Mechanisms and Robotics

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In soft robotics there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness and weight without the use of sensors or vision. Various, mostly complex grippers already exist based on certain actuation concepts. However, each solution has specific limitations, especially regarding gripping different soft and delicate objects. Therefore, this paper introduces a new approach to design a simple, adaptive and versatile soft robotic two-finger gripper that is based on compliant mechanisms. More specifically, an inherently gentle touch is realized by utilizing an optimally synthesized mechanism with distributed compliance in combination with a conventional linear actuator. It is shown by FEM simulations that the gripper realizes a high force and motion transmission at the same time. Furthermore, it is demonstrated by tests with a gripper prototype that reliable, safe, and fast grasping as well as manipulation are possible for a wide variety of objects. It is shown that beside regular and stiff objects also very challenging objects can be easily gripped, e.g. small, irregular, soft, and squeezable objects like fruits, berries and vegetables. Moreover, it is confirmed that the developed compliant two-finger gripper can be used beneficially without sensors and control for differently sized and shaped objects with a comparable weight.

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PASCAV Gripper: a Pneumatically Actuated Soft Cubical Vacuum Gripper

Cited by 10 publications

References 25 publications

Design and Analysis of a Soft Pneumatic Actuator to Develop Modular Soft Robotic Systems

Design and Analysis of a Soft Pneumatic Actuator to Develop Modular Soft Robotic Systems

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

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