A Soft Robotic Gripper With a Belt Loop Actuated Adhesion Design for Gentle Handling of Fragile Object

被引：0
|
作者：
Chen, Gen [1 ]
Wu, Junsong [2 ]
Zhang, Zijian [1 ]
Zhang, Bolun [2 ]
Chu, Zhongyi [1 ]
Cui, Jing [2 ]
机构：
[1] Beihang Univ, Sch Instrument & Optoelect Engn, Beijing 100191, Peoples R China
[2] Beijing Univ Technol, Sch Mech Engn & Appl Elect, Beijing 101100, Peoples R China
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2024年 / 9卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Grippers and other end-effectors; perception for grasping and manipulation; DRY; MICROPILLARS;
D O I：
10.1109/LRA.2024.3414248
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This study presents a soft gripper incorporating a novel belt loop actuated adhesion design, offering a comprehensive solution for the fabrication, variable-scale actuation, and contact sensing of directional adhesives. The solution facilitates high-resolution control of directional adhesives with relatively low device requirements. On this basis, the gripper adopts a minimal interaction force actuation strategy, thereby enabling the maximum gentleness in handling objects. The gripper has demonstrated its non-destructiveness and efficiency on various fragile flat objects. Additionally, the sensing capabilities for adhesive pairs allow it to percept and handle unlocated objects.
引用
收藏
页码：6784 / 6791
页数：8
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