The Loop Gripper: A Soft Gripper for Honeycomb Materials

Roth, Franziska; Eschen, Henrik; Schüppstuhl, Thorsten

doi:10.1016/j.promfg.2021.10.023

Cited by 2 publications

(1 citation statement)

References 11 publications

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“…Cables are an extremelly common mean of actuation for robotic grippers design and have been used successfully in countless designs, from anthropomorphic hands 28 , 29 , to bio-inspired design 30 , 31 , since they can transmit power very efficiently, and requiring little space. The cable itself can be used as a grasping mechanisms, as shown by the Loop Gripper 32 which uses many expanding loops of wire to manipulate comb materials. The mechanism we propose operates by being positioned around the targeted object and subsequently being pulled taut.…”

Section: Introductionmentioning

confidence: 99%

A soft cable loop based gripper for robotic automation of chemistry

Manes,

Fichera,

Fakhruldeen

et al. 2024

Sci Rep

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Robotic automation is proving itself indispensable in the modern Chemistry laboratory, but adoption is slowed down by the technical challenges of implementing such systems. This paper reports on a novel adaptive gripper mechanism that can easily and reliably grasp cylindrical and prismatic objects of various sizes with limited clearance required. The proposed design exploits the inherent compliance of a cable that is driven to fully envelope the target object. The cable is run through a rigid finger, allowing the loop to be placed around objects with minimal clearance required and to provide support for the object once the grip is complete. Thanks to the compliant nature of the mechanism, the gripper requires minimal control effort to complete a gasping task. A prototype of the gripper has been designed and built for chemistry automation tasks, where it showed very high grasp reliability with $$\le 1\%$$ ≤ 1 % grasp failures.

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Section: Introductionmentioning

confidence: 99%

A soft cable loop based gripper for robotic automation of chemistry

Manes,

Fichera,

Fakhruldeen

et al. 2024

Sci Rep

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Soft Robotic Honeycomb-Velcro Jamming Gripper Design

Chung,

Chow,

Nguyen

2024

Actuators

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In this paper, using a honeycomb-velcro structure to generate a novel jamming gripper is explored. Each finger of the gripper consists of multi-layers with a honeycomb sandwich structure acting as a core wrapped by a fabric sheet and sealed by a latex membrane. This structure can transit between unjammed (flexible) and jammed (rigid) states thanks to the vacuum pressure. Various materials of honeycomb structure, fabric, and reinforcements are investigated to seek optimal combinations for making the jamming fingers. Then, such fingers are deployed in experiments to evaluate the stiffness and the surface friction with different loads in terms of with or without vacuum. Vacuum pressure boosts the stiffness and friction of all the jamming fingers compared with the without-vacuum case. Attached to a gripper, the jamming finger shows good performance in diverse manipulation with food, a metal component, a toy, a can, and a bottle. Furthermore, the variable-stiffness finger under vacuum pressure can be utilized to perform assembly and installation operations such as pushing a bolt into an aligned hole.

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The Loop Gripper: A Soft Gripper for Honeycomb Materials

Cited by 2 publications

References 11 publications

A soft cable loop based gripper for robotic automation of chemistry

A soft cable loop based gripper for robotic automation of chemistry

Soft Robotic Honeycomb-Velcro Jamming Gripper Design

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