TY - GEN
T1 - Optimal design of a soft robotic gripper with high mechanical advantage for grasping irregular objects
AU - Liu, Chih Hsing
AU - Chiu, Chen Hua
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85028012309
UR - https://www.scopus.com/pages/publications/85028012309#tab=citedBy
U2 - 10.1109/ICRA.2017.7989332
DO - 10.1109/ICRA.2017.7989332
M3 - Conference contribution
AN - SCOPUS:85028012309
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2846
EP - 2851
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -