TY - GEN
T1 - Design and Experiment of a Soft Gripper Based on Cable-Driven Continuum Structures
AU - Wu, Qiong
AU - Yi, Zhenglong
AU - Wang, Hongqiang
AU - Yuan, Han
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - Soft grippers can be used as the end effectors of robots due to their good adaptability to the object being grasped. This is because of the passive compliance of the material. However, for this reason, the grippers have difficulties applying enough forces to the objects. Therefore, how to design the grippers to realize universal adaptive and compliant grasping of the object is worthy of study. In this paper, we design a novel cable-driven soft gripper, the shape and function of which are similar to a human hand. It is able to realize a stable self-adaptive grasp. Kinematic and kinetic models of the finger are established, simulation analysis and finite element analysis are carried out to optimize the finger. Experimental validation proves that the gripper designed can realize stable self-adaptive grasping.
AB - Soft grippers can be used as the end effectors of robots due to their good adaptability to the object being grasped. This is because of the passive compliance of the material. However, for this reason, the grippers have difficulties applying enough forces to the objects. Therefore, how to design the grippers to realize universal adaptive and compliant grasping of the object is worthy of study. In this paper, we design a novel cable-driven soft gripper, the shape and function of which are similar to a human hand. It is able to realize a stable self-adaptive grasp. Kinematic and kinetic models of the finger are established, simulation analysis and finite element analysis are carried out to optimize the finger. Experimental validation proves that the gripper designed can realize stable self-adaptive grasping.
UR - https://www.scopus.com/pages/publications/85128238560
U2 - 10.1109/ROBIO54168.2021.9739279
DO - 10.1109/ROBIO54168.2021.9739279
M3 - 会议稿件
AN - SCOPUS:85128238560
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 637
EP - 642
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -