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

Chih Hsing Liu, Chen Hua Chiu

研究成果: Conference contribution

25 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題ICRA 2017 - IEEE International Conference on Robotics and Automation
發行者Institute of Electrical and Electronics Engineers Inc.
頁面2846-2851
頁數6
ISBN(電子)9781509046331
DOIs
出版狀態Published - 2017 7月 21
事件2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
持續時間: 2017 5月 292017 6月 3

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
國家/地區Singapore
城市Singapore
期間17-05-2917-06-03

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 人工智慧
  • 電氣與電子工程

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