Author:
Mangan Elizabeth V.,Kingsley Dan A.,Quinn Roger D.,Sutton Greg P.,Mansour Joseph M.,Chiel Hillel J.
Abstract
PurposeThe purpose of this paper is to inform the readers of the design process and practical implications of a new gripping device created by the authors.Design/methodology/approachWe have developed a novel gripping device based on the biomechanics of the feeding apparatus of the marine mollusk, Aplysia californica. The gripping device uses modified McKibben artificial muscles arranged in rings and placed in parallel. The rings contract sequentially to produce peristalsis, which moves a grasping mechanism back and forth through the rings.FindingsThe central grasper is capable of conforming to soft and irregular material.Practical implicationsThis device could have novel applications both for removal of tissue in medical applications and for removing material from clogged plumbing lines.Originality/valueThis paper demonstrates the utility of using biological inspiration for developing novel robotic devices and suggests new ways of handling slippery, irregular, and fragile material.
Subject
Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering
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