A soft robotic gripper module with 3d printed compliant fingers for grasping fruits

Chih Hsing Liu, Chen Hua Chiu, Ta Lun Chen, Tzu Yang Pai, Yang Chen, Mao Cheng Hsu

研究成果: Conference contribution

6 引文 斯高帕斯(Scopus)

摘要

This study presents a soft robotic gripper module with 3D printed compliant fingers for grasping fruits. The proposed compliant gripper module is an underactuated two-finger sensor-less design which can be actuated by one linear actuator. A topology optimization method is used to synthesize the monolithic compliant finger. The topology optimized compliant finger is prototyped by 3D printing using flexible thermoplastic filament. The developed gripper module is mounted on a robot arm to pick and place a variety of fruits automatically via machine vision to demonstrate the effectiveness of the design. The results show the developed system can be used for automated grasping of fruits without causing surface damages. The proposed design is expected to be used to resolve the challenging issue for robotic automation of irregular and fragile objects.

原文English
主出版物標題AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
發行者Institute of Electrical and Electronics Engineers Inc.
頁面736-741
頁數6
ISBN(列印)9781538618547
DOIs
出版狀態Published - 2018 八月 30
事件2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
持續時間: 2018 七月 92018 七月 12

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2018-July

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
國家New Zealand
城市Auckland
期間18-07-0918-07-12

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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