Optimal design of a soft robotic gripper with high mechanical advantage for grasping irregular objects

Chih Hsing Liu, Chen Hua Chiu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

This study presents a soft robotic gripper for grasping irregular objects. The optimal design is based on the proposed topology optimization and size optimization methods with the objective to maximize the mechanical advantage (MA, which is defined as the ratio of output force to the input force) of the analyzed compliant mechanism. The optimal design is prototyped using silicon rubber material. Experimental tests including MA test, geometric advantage (GA, which is defined as the ratio of output displacement to the input displacement) test, adaptability test, and grasping test are carried out to investigate the design. A performance index has also been proposed to evaluate the grasping performance of the grippers. The results show the developed gripper is with the highest performance index, which represents the developed gripper is with better adaptability, faster response, higher payload and stability in overall.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2846-2851
Number of pages6
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 2017 Jul 21
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 2017 May 292017 Jun 3

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17-05-2917-06-03

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Liu, C. H., & Chiu, C. H. (2017). Optimal design of a soft robotic gripper with high mechanical advantage for grasping irregular objects. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 2846-2851). [7989332] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989332