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- Publisher Website: 10.1109/TMECH.2019.2907045
- Scopus: eid_2-s2.0-85067618061
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Article: Soft Robotic Grippers Based on Particle Transmission
Title | Soft Robotic Grippers Based on Particle Transmission |
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Authors | |
Keywords | particle jamming soft actuator soft robot variable stiffness |
Issue Date | 2019 |
Publisher | IEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 |
Citation | IEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 3, p. 969-978 How to Cite? |
Abstract | The actuation of soft robotics has relied predominantly on pneumatic or hydraulic transmissions. However, these transmissions require good sealing and complicated valve control systems. Robots based on such transmissions are also tethered to bulky pneumatic or hydraulic pumps. In many practical grasping applications, soft actuators are expected to show several-fold stiffness change, which is difficult to achieve in pneumatic or hydraulic soft actuators. In this paper, a novel particle transmission method is proposed for soft gripper design. In the proposed method, particles enclosed in an elastic membrane are driven by a piston, thus problems associated with sealing are resolved as long as particle diameter is greater than the clearance between the piston and the cylinder. By controlling the volume of particles injected into the elastic membrane, bending of the actuator is achieved and its stiffness is increased accordingly. In the experiments, when injected particle volume is changed from 1.0 to 1.8 times that of the actuator's initial volume, the actuator bends up to 60 degrees and its stiffness is increased by nearly seven folds from its initial state. A sample soft robotic gripper made of three such soft actuators is developed to test the feasibility and capability of the proposed method. It is believed that the proposed method could provide an important alternative to soft robotic gripper design and development. |
Persistent Identifier | http://hdl.handle.net/10722/274412 |
ISSN | 2023 Impact Factor: 6.1 2023 SCImago Journal Rankings: 2.133 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Li, Y | - |
dc.contributor.author | Chen, YH | - |
dc.contributor.author | Yang, Y | - |
dc.contributor.author | Li, Y | - |
dc.date.accessioned | 2019-08-18T15:01:14Z | - |
dc.date.available | 2019-08-18T15:01:14Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | IEEE/ASME Transactions on Mechatronics, 2019, v. 24 n. 3, p. 969-978 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | http://hdl.handle.net/10722/274412 | - |
dc.description.abstract | The actuation of soft robotics has relied predominantly on pneumatic or hydraulic transmissions. However, these transmissions require good sealing and complicated valve control systems. Robots based on such transmissions are also tethered to bulky pneumatic or hydraulic pumps. In many practical grasping applications, soft actuators are expected to show several-fold stiffness change, which is difficult to achieve in pneumatic or hydraulic soft actuators. In this paper, a novel particle transmission method is proposed for soft gripper design. In the proposed method, particles enclosed in an elastic membrane are driven by a piston, thus problems associated with sealing are resolved as long as particle diameter is greater than the clearance between the piston and the cylinder. By controlling the volume of particles injected into the elastic membrane, bending of the actuator is achieved and its stiffness is increased accordingly. In the experiments, when injected particle volume is changed from 1.0 to 1.8 times that of the actuator's initial volume, the actuator bends up to 60 degrees and its stiffness is increased by nearly seven folds from its initial state. A sample soft robotic gripper made of three such soft actuators is developed to test the feasibility and capability of the proposed method. It is believed that the proposed method could provide an important alternative to soft robotic gripper design and development. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=3516 | - |
dc.relation.ispartof | IEEE/ASME Transactions on Mechatronics | - |
dc.rights | IEEE/ASME Transactions on Mechatronics. Copyright © IEEE. | - |
dc.rights | ©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | particle jamming | - |
dc.subject | soft actuator | - |
dc.subject | soft robot | - |
dc.subject | variable stiffness | - |
dc.title | Soft Robotic Grippers Based on Particle Transmission | - |
dc.type | Article | - |
dc.identifier.email | Chen, YH: yhchen@hkucc.hku.hk | - |
dc.identifier.authority | Chen, YH=rp00099 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/TMECH.2019.2907045 | - |
dc.identifier.scopus | eid_2-s2.0-85067618061 | - |
dc.identifier.hkuros | 301942 | - |
dc.identifier.volume | 24 | - |
dc.identifier.issue | 3 | - |
dc.identifier.spage | 969 | - |
dc.identifier.epage | 978 | - |
dc.identifier.isi | WOS:000472193600008 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 1083-4435 | - |