Design of a Rigid-Flexible Coupling Origami Gripper

被引：2
|
作者：
Liang, Dongbo [1 ]
Gao, Yinghao [1 ]
Huang, Hailin [1 ]
Li, Bing [1 ,2 ]
机构：
[1] Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
[2] Peng Cheng Lab, Shenzhen 518055, Peoples R China
来源：
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE-ROBIO 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
ROBOTIC GRIPPER;
D O I：
10.1109/ROBIO54168.2021.9739578
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design a pneumatic rigid-flexible coupling origami gripper. The mechanism of the gripper is designed from the waterbomb origami, and the stiffness of the gripper is increased by attaching steel sheets to the facets of the origami gripper. Then the gripper realizes the adaptivity of soft grippers and high load capacity of rigid grippers. Three pressure sensors are arranged on the gripper as its sensory system. The sensory system gives distinct responses to objects of different shapes, and therefore enables the gripper to recognize grasping objects.
引用
收藏
页码：1283 / 1287
页数：5
相关论文
共 50 条
  • [21] Versatile Rigid-Flexible Coupling Modules: Enhancing Soft Origami Structures with Cable-Driven Parallel Mechanisms
    Wang, Ji
    Yang, Hao
    Zhang, Jie
    Liu, Houde
    Zhong, Yanbin
    Hu, Yunge
    Xia, Chongkun
    Wu, Jianing
    ADVANCED INTELLIGENT SYSTEMS, 2025,
  • [22] Chaotic mixing intensified by rigid-flexible coupling impeller
    Liu, Zuohua
    Sun, Ruixiang
    Wang, Yundong
    Tao, Changyuan
    Liu, Renlong
    Liu, Zuohua, 1600, Materials China (65): : 3340 - 3349
  • [23] Study on the Rigid-Flexible Coupling Dynamics of Welding Robot
    Na Liu
    Xiangyu Zhang
    Lin Zhang
    Deyong Shang
    Xun Fan
    Wireless Personal Communications, 2018, 102 : 1683 - 1694
  • [24] Attitude Control of Rigid-Flexible Coupling Solar Sail
    Zhang, Yang
    Tang, Chuan
    PROCEEDINGS OF THE 2015 5TH INTERNATIONAL CONFERENCE ON COMPUTER SCIENCES AND AUTOMATION ENGINEERING, 2016, 42 : 193 - 196
  • [25] Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure
    Chen, Chang
    Sun, Jiteng
    Wang, Long
    Chen, Guojin
    Xu, Ming
    Ni, Jing
    Ramli, Rizauddin
    Su, Shaohui
    Chu, Changyong
    MATERIALS, 2022, 15 (04)
  • [26] Rigid-flexible Coupling Dynamics Analysis of Clock Mechanism
    Sui, Li
    Shi, Gengchen
    Song, Ping
    Song, Wei
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE, PTS 1-4, 2011, 44-47 : 1823 - +
  • [27] Dynamics of a rigid-flexible coupling system in a uniform flow
    Department of Mechanics, School of Aerospace Engineering, Huazhong University of Science and Technology, Wuhan
    430074, China
    不详
    430074, China
    不详
    430074, China
    不详
    430074, China
    不详
    200240, China
    J. Fluid Mech., 2022,
  • [28] Study on the Rigid-Flexible Coupling Dynamics of Welding Robot
    Liu, Na
    Zhang, Xiangyu
    Zhang, Lin
    Shang, Deyong
    Fan, Xun
    WIRELESS PERSONAL COMMUNICATIONS, 2018, 102 (02) : 1683 - 1694
  • [29] A Rigid-Flexible Coupling Oscillator for Pneumatic Autonomous Robots
    Zhao, Yongjian
    Qi, Yuyan
    Niu, Tong
    Shao, Jiaqi
    Yang, Yi
    Zhong, Songyi
    Yang, Yang
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2024, 9 (11): : 10668 - 10675
  • [30] Dynamics of a rigid-flexible coupling system in a uniform flow
    Sun, Yuehao
    Peng, Ze-Rui
    Yang, Dan
    Xiong, Yongliang
    Wang, Lei
    Wang, Lin
    JOURNAL OF FLUID MECHANICS, 2022, 943
12345