Author:
Cai Lihua,Dong Shuo,Huang Xi,Fang Haifeng,She Jianguo
Abstract
Purpose
Flexible mechanical gripper has better safety and adaptability than a rigid mechanical hand. At present, there are few soft grippers for small objects on a millimeter scale. Therefore, the purpose of this paper is to design a soft pneumatic gripper for grasping millimeter-scale small and fragile objects such as jewelry and electronic components.
Design/methodology/approach
By simulating the clamping action of the bird’s mouth and combining the high flexibility of the soft material, the bird’s beak soft pneumatic gripper is designed. First, the internal cavity of the gripping end of the gripper is determined by bending deformation calculation, and the brief manufacturing process of the gripper is outlined. Then, the single finger of the soft gripper is modeled mechanically, and the relationship between air pressure and bending deformation of the single finger is obtained. Finally, the experimental platform of the soft mechanical gripper is built, and the gripping performance of silicone rubber material is tested by comparison test, bending deformation test, stability test, adaptability test and gripping accuracy test.
Findings
The designed gripper has the advantages of simple structure, convenient operation, easy grasping of different small objects of millimeter-scale and good adaptability. It can grasp the precise dispensing needle with a minimum diameter of 0.19 mm, and its accuracy meets daily use.
Originality/value
A new type of soft pneumatic, the mechanical gripper is proposed and manufactured. According to the shape of the bird’s beak and the calculation of bending performance, a hollow finger gripper with better bending performance is designed. Various test results show that the gripper has a significant clamping effect on millimeter small objects, which supplements the research field of millimeter small object gripper.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering
Reference18 articles.
1. A positive pressure universal gripper based on the jamming of granular material;IEEE Transactions on Robotics,2012
2. Layer-jamming suction grippers with variable stiffness;Journal of Mechanisms and Robotics,2019
3. A novel highly-extensible 2-dof pneumatic actuator for soft robotic applications;Sensors and Actuators A: Physical,2018
4. Modeling, identification and control of a pneumatically actuated robot;IEEE Transactions on Robotics and Automation,1998
5. Pneumatic webbed soft gripper for unstructured grasping;International Journal of Agricultural and Biological Engineering,2021
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献