Soft hands: An analysis of some gripping mechanisms in soft robot design

Due to their light weight, flexibility, and low energy consumption, ionic electroactive polymers have become a hotspot for bionic soft robotics and are ideal materials for the preparation of soft actuators. Because the traditional ionic electroactive polymers, such as ionic polymer-metal composites (IPMCs), contain water ions, a soft actuator does not work properly upon the evaporation of water ions. An ionic liquid polymer gel is a new type of ionic electroactive polymer that does not contain water ions, and ionic liquids are more thermally and electrochemically stable than water. These liquids, with a low melting point and a high ionic conductivity, can be used in ionic electroactive polymer soft actuators. An ionic liquid gel (ILG), a new type of soft actuator material, was obtained by mixing 1-butyl-3-methylimidazolium tetrafluoroborate (BMIMBF4), hydroxyethyl methacrylate (HEMA), diethoxyacetophenone (DEAP) and ZrO2 and then polymerizing this mixture into a gel state under ultraviolet (UV) light irradiation. An ILG soft actuator was designed, the material preparation principle was expounded, and the design method of the soft robot mechanism was discussed. Based on nonlinear finite element theory, the deformation mechanism of the ILG actuator was deeply analyzed and the deformation of the soft robot when grabbing an object was also analyzed. A soft robot was designed with the soft actuator as the basic module. The experimental results show that the ILG soft robot has good driving performance, and the soft robot can grab a 105 mg object at an input voltage of 3.5 V.

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“…At s � s * , the position of any material point can be represented by the following formula [20], as shown in Figure 8.…”

Section: Deformation Analysis For Soft Actuatorsmentioning

confidence: 99%

Application and Analysis of an Ionic Liquid Gel in a Soft Robot

Zhang

Wang

et al. 2019

Advances in Materials Science and Engineering

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“…The condition for effective grip for the parallel jaw gripper during normal object pick & movement is mathematically given by Gripping force, F(grip) > (m.g/µ(grip))*f.o.s, N m = weight of the object being gripped, kg g = acceleration due to gravity, m/s 2 µ(grip) = coefficient of friction between the object and gripping surface [11] f.o.s = factor of safety recommended based on motion The f.o.s is generally taken to be 2 for normal movement of the gripper and could be around 5 to 6 for accelerative movements. Mathematical formulations of the gripping are made in earlier studies for the intended compliance and dexterity of the end effector [6]. However, the scope and simplicity of the parallel l.s.gripper allows us to make use of straight forward engineering calculations.…”

Section: Mechanical Function and Component Definitionmentioning

confidence: 99%

Design and Development of a Lead Screw Gripper for Robotic Application

Krishnamoorthy¹

2019

SSRN Journal

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This paper gives details on the electromechanical design concept and prototype development of a lead screw linear actuated, parallel robotic gripper. Robotic applications are known to be catering to many industries from a range of tasks namely pick & place, material handling, as fixtures, tool & instrument holders etc. These application specific robots are equipped with end effectors customised with design appropriate for the application. In this paper, presented are the details for the design of an end effector also known as the gripper which works on a lead screw linear mechanism actuated by a dc motor. The gripper of stroke 100 mm is designed to hold bottles, tools or pick and place objects of rectangular section of 90mm x 90mm or of circular section of 90mm diameter and up to 3kg weight. Mechanical assembly comprises a sheet metal fixture plate holding the actuating components and a sheet metal gripper plate performing the gripping action. The motor is driven by a 24V, 2A dc motor driver. The gripping action is sensed and signalled by a force sensitive resistor. Prototype development of the gripper and on/off testing for the gripping action is investigated. The mechanical construction for this unique lead screw gripper is observed to be robust and can be used as an end effector to a suitable robotic arm.

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“…Entre las conclusiones mencionan la importancia del uso de sensores embebidos en el desarrollo de una mano robótica con propósito general. X. Zhou, C. Majidi y O. M. O´ Reilly, en "Soft Hands: An Analysis of Some Gripping Mechanisms in Soft Robot Design" [3], a diferencia de los anteriores, desarrollan un análisis matemático en cuanto al diseño de una mano robótica blanda según el cual, teniendo ciertos parámetros o restricciones de curva, dicha mano pueda amoldarse de una manera adecuada a un objetivo.…”

Section: Introductionunclassified

Desarrollo de un prototipo de mano para sujeción de granadas explosivas tipo piña aplicando elementos de robótica blanda y sensores embebidos

Carpio¹,

Guerrero²,

Vinces³

2019

Proceedings of the 17th LACCEI International Multi-Conference for Engineering, Education, and Technology: “Industry, Innovation

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This article is part of a project to develop a robot for tasks in the collection and transfer of explosives, in which the system of the robotic hand was selected to make a proposal prototype and its development, in this article. This prototype of a robotic hand has the objective the grip of explosives grenades of the "pineapple" type, having as constituent parts of some soft robotics elements, especially the "soft fingers" because of their softness, they have the potential of grabbing objects in a more soft or delicate way than traditional gripper elements. It also makes use of an electro pneumatic system as well as sensors and another primary elements that allows the control and to get information during the complete process done by the robotic hand. The article also aims to make a prototype proposal for systems related to robotics and not only for the task described with grenade explosives, instead with a great potential of be used in a more general way in robotic systems. Some results were done to show good answer of the prototype developed into the take of an object with similar geometry as the pineapple grenade. Another analysis from the results given by the experiments, showed a linear relationship between the curvature of the finger and some of the variables and parameters considered in the proposed analysis.

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Soft hands: An analysis of some gripping mechanisms in soft robot design

Cited by 86 publications

References 29 publications

Application and Analysis of an Ionic Liquid Gel in a Soft Robot

Application and Analysis of an Ionic Liquid Gel in a Soft Robot

Design and Development of a Lead Screw Gripper for Robotic Application

Desarrollo de un prototipo de mano para sujeción de granadas explosivas tipo piña aplicando elementos de robótica blanda y sensores embebidos

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