Affiliation:
1. School of Aeronautics and Astronautics Shenzhen Campus of Sun Yat-sen University Shenzhen 518107 P. R. China
2. Qingyuan Chimelong National Ex-situ Conservation Base of World Endangered Flora and Fauna Guangdong Chimelong group Co. Ltd. Guangzhou 511400 P. R. China
3. School of Advanced Manufacturing Shenzhen Campus of Sun Yat-sen University Shenzhen 518107 P. R. China
Abstract
Manipulating granular materials is a crucial function of robotic grippers. However, the existing approaches always suffer from low efficiency when dealing with large quantities of dispersed granules. To overcome this challenge, inspiration is drawn from an African elephant (Loxodonta Africana), which can employ both fingertip extensions on the trunk tip to efficiently grasp dispersed granular food all at once by mediating state transition of granules. Herein, this bio‐inspired intelligent strategy is integrated into a soft pneumatic gripper for transporting dispersed granules. To evaluate the critical actuation pressures while grasping granules, a library is constructed experimentally, and the effects of the initial relative height and relative lifting speed on the grasping success rate are examined. It is indicated in the experimental results that this trunk‐inspired robotic strategy leads to a success rate of over 90% and saves ≈50% duration of manipulation compared to the individual gripping fashion. Herein, new insights may be offered in this study into a novel manipulation strategy for efficiently transporting dispersed granular materials.
Funder
National Natural Science Foundation of China
Cited by
2 articles.
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