A topology-optimized 3D printed compliant finger with flex sensor for adaptive grasping of unknown objects

Chih Hsing Liu, Mao Cheng Hsu, Yang Chen, Wei Ting Chen, Ta Lun Chen

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

This study presents a motor-driven, two-finger compliant gripper with sensory feedback for autonomously adaptive grasping of unknown objects. The proposed compliant finger is synthesized using a topology optimization method, and prototyped by 3D printing using thermoplastic elastomer filament. Both compliant fingers of the gripper can be actuated by one displacement input and deform elastically to generate the gripping motion. A resistive flex sensor is installed on the surface of the compliant finger to determine the amount of bending for the finger. The value of resistive flex sensor reading is utilized as the feedback signal for the soft gripper. The effect of input displacement on bending angle and flex sensor reading, and the effect of object size on flex sensor reading and output force are provided in this study. The developed gripper is mounted on an industrial robot for automatic grasping of a variety of objects such as glass cup, tomato, egg, water balloon, hard disk, and paper box. The test results show the proposed design can grip objects with sizes between 30 and 141mm, and the maximum payload is measured as 2.5kg.

原文English
主出版物標題Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
發行者Institute of Electrical and Electronics Engineers Inc.
頁面92-97
頁數6
ISBN(電子)9781728124933
DOIs
出版狀態Published - 2019 七月
事件2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
持續時間: 2019 七月 82019 七月 12

出版系列

名字IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
國家/地區China
城市Hong Kong
期間19-07-0819-07-12

All Science Journal Classification (ASJC) codes

  • 電氣與電子工程
  • 控制與系統工程
  • 電腦科學應用
  • 軟體

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