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
  • [31] Dynamics and control of rigid-flexible coupling flexible spacecraft with joint clearance
    Sun, Jie
    Sun, Jun
    Liu, Fucheng
    Zhu, Dongfang
    Huang, Jing
    [J]. Lixue Xuebao/Chinese Journal of Theoretical and Applied Mechanics, 2020, 52 (06): : 1569 - 1580
  • [32] Better dynamic modeling of a flexible beam in rigid-flexible coupling spacecraft
    He, Xingsuo
    Deng, Fengyan
    [J]. Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University, 2007, 25 (03): : 353 - 357
  • [33] Design of a search and rescue robot with crab-inspired rigid-flexible coupling mechanisms
    Zhou, Jingsong
    Zhang, Jun
    Xiao, Yi
    Song, Aiguo
    [J]. Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument, 2023, 44 (06): : 11 - 20
  • [34] Design and Rigid-flexible Coupling Dynamic Analysis of Cam-type ATC Manipulator
    Li, Jiawei
    Ge, Zhenghao
    Liang, Chen
    Cao, Peng
    [J]. 2017 IEEE 3RD INFORMATION TECHNOLOGY AND MECHATRONICS ENGINEERING CONFERENCE (ITOEC), 2017, : 329 - 333
  • [35] Vibration analysis of naval gun by rigid-flexible coupling dynamics
    Shi, Yue-Dong
    Wang, De-Shi
    [J]. Dandao Xuebao/Journal of Ballistics, 2010, 22 (01): : 37 - 40
  • [36] Study on two dynamic models for a rigid-flexible coupling system
    Yang, Hui
    Hong, Jia-Zhen
    Yu, Zheng-Yue
    [J]. Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, 2002, 36 (11): : 1591 - 1595
  • [37] Dynamic simulation analysis of rigid-flexible coupling of a missile launcher
    Yao, Jianjun
    Wang, Xiao
    Liu, Ning
    Mei, Yu
    Wu, Yang
    Yu, Geyang
    [J]. Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University, 2022, 43 (10): : 1491 - 1498
  • [38] Analysis of Rigid-Flexible Coupling Dynamic Characteristics for Power Tiller
    Liu, Yu
    Xu, Zixiang
    Xu, Hongbin
    Chen, Yajie
    [J]. SCIENCE OF ADVANCED MATERIALS, 2017, 9 (12) : 2178 - 2186
  • [39] Complete geometric nonlinear formulation for rigid-flexible coupling dynamics
    刘铸永
    洪嘉振
    刘锦阳
    [J]. Journal of Central South University, 2009, 16 (01) : 119 - 124
  • [40] Complete geometric nonlinear formulation for rigid-flexible coupling dynamics
    Zhu-yong Liu
    Jia-zhen Hong
    Jin-yang Liu
    [J]. Journal of Central South University of Technology, 2009, 16 : 119 - 124
12345