Pneumatically Actuated Soft Gripper with Bistable Structures

Zhang, Zheng; Ni, Xiangqi; Wu, Helong; Sun, Min; Bao, Guanjun; Wu, Huaping; Jiang, Shaofei

doi:10.1089/soro.2019.0195

Cited by 82 publications

(52 citation statements)

References 54 publications

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“…Figure 1 a shows the finite element model of the anti-symmetric cylindrical shell, which achieves stable transformation by pressing down the indenter. There are snap-through and snap-back in the anti-symmetric cylindrical shell during the modeling process [ 29 , 30 , 31 , 32 ]. During the snap-through process, the supporting platform is fixed, and the indenter is loaded downward.…”

Section: Anti-symmetric Cylindrical Shellmentioning

confidence: 99%

Stable Characteristics Optimization of Anti-Symmetric Cylindrical Shell with Laminated Carbon Fiber Composite

et al. 2022

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This paper proposes a multi-objective optimization model for anti-symmetric cylindrical shell in the bionic gripper structure. Here, the response surface method is used to establish multiple surrogate models of the anti-symmetric cylindrical shell, and the non-dominated sorting genetic algorithm-II (NSGA-II) is used to optimize the design space of the anti-symmetric cylindrical shell; the design points of the anti-symmetric cylindrical shell are verified by experimental methods. The optimization goals are that the first steady state transition load (the transition process of the bionic gripper structure from the open state to the closed state) of the anti-symmetric cylindrical shell is minimized, and the second steady state transition load (the transition process of the bionic gripper structure from the closed state to the open state) is the largest. At the same time, in order to prevent stable instability caused by stress concentration in the second steady state of the anti-symmetric cylindrical shell, the maximum principal plane stress is given as the constraint condition. The validity of the optimization results is verified by finite element and experimental methods. Due to the stable transition load of the anti-symmetric cylindrical shell being significantly larger than that of the orthogonal laminated plate, therefore, the anti-symmetric cylindrical shell has potential application prospects in the application of deformable structures and bionic structures that require composite functions such as having light weight, high strength, and large clamping force. The novelty of this paper lies in the multi-objective optimization of the application of the antisymmetric bistable cylindrical shell in the bionic gripper structure.

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Section: Anti-symmetric Cylindrical Shellmentioning

confidence: 99%

Stable Characteristics Optimization of Anti-Symmetric Cylindrical Shell with Laminated Carbon Fiber Composite

et al. 2022

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“…Conventional rigid robots are mainly actuated by motors and relatively complicated mechanical structures which provide rotational and linear motion, while soft robots employ new driving manners, including variable length tendons, fluidic actuation, and electro-active polymer, which can achieve multi-degree of freedom and continuum deformation. As one of the main forms of fluidic actuation, pneumatic actuation [14] employing compressed air as working media possesses many advantages, such as low viscosity, low mass, high availability [15] , no pollution [16] , and low cost [17] . In this study, a highly flexible actuator with embedded air chambers was developed.…”

Section: Figure 2 Stress-strain Curve Of the Tensile Test 22 Actuationmentioning

confidence: 99%

Pneumatic webbed soft gripper for unstructured grasping

Cai

Tang

Pan

et al. 2021

International Journal of Agricultural and Biological Engineering

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Grasping unstructured and fragile objects such as food and fruits is a great challenge for robots. Being naturally different from the traditional rigid robot, soft robotics provide highly promising choices with their intrinsic flexibility and compliance to objects. Inspired by duck foot and octopus tentacle, a pneumatic webbed soft gripper was proposed, which is consisted of four multi-chambered fingers and four webs. Due to its silicone body and soft web structure, the developed soft gripper can naturally adapt, grasp and hold delicate and unstructured objects. Compressed air inflated into the three chambers of the finger actuates the silicone body and performs inflection and extension. The silicone web follows the motion of four fingers, forming a semi-closed grasping configuration. The fingers were fabricated with silicone rubber and constraint spring by casting process. The web was cast around the fingers. The inflecting motion was modeled via the pneumatic principle and geometrical analysis. The dynamic properties of the finger were tested by step and sinusoidal signals. And the grasping performances for different objects, such as egg, strawberry, candy, and knife, were also demonstrated by experiments. The proposed soft gripper performed stably in response to a 0.4 Hz reference sinusoidal signal. The bionic structure greatly improves the stability and reliability of grasping, particularly for unstructured and fragile objects. Moreover, the webs ensure the grasping for multiple objects in one snatch, especially suitable for agricultural products and food processing.

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“…A bistable composite structure has two different stable configurations without the need for a continuous external energy supply [ 24 , 25 , 26 ]. This smart structure has great practical value and wide application in deployable structures [ 27 , 28 ], mechanical engineering [ 29 , 30 ] and even biological engineering fields [ 31 , 32 ]. Generally, bistable composite structures can be divided into two categories according to their stacking sequence.…”

Section: Introductionmentioning

confidence: 99%

Novel Deployable Panel Structure Integrated with Thick Origami and Morphing Bistable Composite Structures

Shu-Yong

Sun

et al. 2022

Materials

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This paper proposes a novel deployable panel structure integrated with a bistable composite structure and thick panel based on the thick origami technique. To overcome the interference effects between thick panels, the axis shift method is used in this deployable structure design. Bistable composite structures are employed as hinges for morphing characteristics. The trigger force and load-displacement curves of the structure are obtained by experiments and numerical simulations. The factors that affect the coverage area-to-package volume ratio and trigger force are discussed. The experimental and numerical results verify that the structure has two stable configurations and a large coverage area-to-package volume ratio.

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Pneumatically Actuated Soft Gripper with Bistable Structures

Cited by 82 publications

References 54 publications

Stable Characteristics Optimization of Anti-Symmetric Cylindrical Shell with Laminated Carbon Fiber Composite

Stable Characteristics Optimization of Anti-Symmetric Cylindrical Shell with Laminated Carbon Fiber Composite

Pneumatic webbed soft gripper for unstructured grasping

Novel Deployable Panel Structure Integrated with Thick Origami and Morphing Bistable Composite Structures

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