Effects of Material Properties on Soft Gripper Grasping Forces

被引：0
|
作者：
Agarwal, A. [1 ]
Viswanathan, V. [1 ]
Maheshwari, S. [1 ]
Valdivia y Alvarado, P. [1 ,2 ]
机构：
[1] Singapore Univ Technol & Design SUTD, Engn Prod Dev, Singapore, Singapore
[2] SUTD Digital Mfg & Design Ctr DManD, Singapore, Singapore
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS (ROBOSOFT) | 2018年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this study a cable actuated soft gripper is used to analyze the effects of finger material properties on grasping forces. The gripper design and the fabrication of soft fingers using materials of varying elastic moduli are presented. A model to predict the holding force of each gripper configuration is introduced and predictions are compared to results from grasping experiments. The experiments show a decrease in grasping force with increasing finger stiffness when normalized for the cable tension as predicted by the model.
引用
收藏
页码：437 / 442
页数：6
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