File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Article: A Novel Scaffold-Reinforced Actuator With Tunable Attitude Ability for Grasping

TitleA Novel Scaffold-Reinforced Actuator With Tunable Attitude Ability for Grasping
Authors
KeywordsActuators
Behavioral sciences
Bending
Cable driven
helical motion
Kinematics
Potential energy
scaffold reinforcement
Shape
soft actuator
soft gripper
Strain
Issue Date2-Apr-2023
PublisherInstitute of Electrical and Electronics Engineers
Citation
IEEE Transactions on Robotics, 2023, v. 39, n. 2, p. 1164-1177 How to Cite?
Abstract

Owing to high compliance, adaptiveness, and easy controllability, soft actuators are widely adopted in soft grippers to grasp irregularly shaped or fragile objects. The specific motions can be preprogrammed into the flexible and constrained structures of the actuator, which provides an inexpensive and convenient method for desired motions. However, most preprogrammed structures cannot change the constraints on the actuator to achieve different kinds of deformations, which limits the motion diversities of actuators. This article proposes a scaffold reinforcement mechanism, where rotatable scaffolds distribute on the surface of the soft structure. The orientation adjustments of the scaffolds can change the deformation constraint of the actuator, which results in different kinds of motions. Based on the scaffold reinforcement mechanism, a scaffold-reinforced actuator is proposed, which can achieve bending motion and complex helical motion in the 3-D space by properly adjusting the orientation of the scaffolds. In addition, both the kinematic and mechanical models are proposed to forecast the behavior of the actuator when driven by cable displacement or tension force. Experimental results verify the validity of the theoretical model, and the actuator can achieve an independent control of bending and helical motion, which can be adopted in applications where both high dexterity and flexibility are required.


Persistent Identifierhttp://hdl.handle.net/10722/331432
ISSN
2023 Impact Factor: 9.4
2023 SCImago Journal Rankings: 3.669
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorJiang, P-
dc.contributor.authorLuo, J-
dc.contributor.authorLi, JX-
dc.contributor.authorChen, MZQ-
dc.contributor.authorChen, YH-
dc.contributor.authorYang, Y-
dc.contributor.authorChen, R-
dc.date.accessioned2023-09-21T06:55:40Z-
dc.date.available2023-09-21T06:55:40Z-
dc.date.issued2023-04-02-
dc.identifier.citationIEEE Transactions on Robotics, 2023, v. 39, n. 2, p. 1164-1177-
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10722/331432-
dc.description.abstract<p>Owing to high compliance, adaptiveness, and easy controllability, soft actuators are widely adopted in soft grippers to grasp irregularly shaped or fragile objects. The specific motions can be preprogrammed into the flexible and constrained structures of the actuator, which provides an inexpensive and convenient method for desired motions. However, most preprogrammed structures cannot change the constraints on the actuator to achieve different kinds of deformations, which limits the motion diversities of actuators. This article proposes a scaffold reinforcement mechanism, where rotatable scaffolds distribute on the surface of the soft structure. The orientation adjustments of the scaffolds can change the deformation constraint of the actuator, which results in different kinds of motions. Based on the scaffold reinforcement mechanism, a scaffold-reinforced actuator is proposed, which can achieve bending motion and complex helical motion in the 3-D space by properly adjusting the orientation of the scaffolds. In addition, both the kinematic and mechanical models are proposed to forecast the behavior of the actuator when driven by cable displacement or tension force. Experimental results verify the validity of the theoretical model, and the actuator can achieve an independent control of bending and helical motion, which can be adopted in applications where both high dexterity and flexibility are required.</p>-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers-
dc.relation.ispartofIEEE Transactions on Robotics-
dc.rightsThis work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.-
dc.subjectActuators-
dc.subjectBehavioral sciences-
dc.subjectBending-
dc.subjectCable driven-
dc.subjecthelical motion-
dc.subjectKinematics-
dc.subjectPotential energy-
dc.subjectscaffold reinforcement-
dc.subjectShape-
dc.subjectsoft actuator-
dc.subjectsoft gripper-
dc.subjectStrain-
dc.titleA Novel Scaffold-Reinforced Actuator With Tunable Attitude Ability for Grasping-
dc.typeArticle-
dc.identifier.doi10.1109/TRO.2022.3200550-
dc.identifier.scopuseid_2-s2.0-85139423421-
dc.identifier.volume39-
dc.identifier.issue2-
dc.identifier.spage1164-
dc.identifier.epage1177-
dc.identifier.eissn1941-0468-
dc.identifier.isiWOS:000854614300001-
dc.identifier.issnl1552-3098-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats