Topology Synthesis, Prototype, and Test of an Industrial Robot Gripper with 3D Printed Compliant Fingers for Handling of Fragile Objects

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

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

This study presents the design of an innovative soft robotic gripper which consists of one linear actuator and two identical topology optimized compliant fingers. Both fingers can be actuated by one displacement input, and can deform elastically to execute the gripping motion. A topology optimization method is presented to synthesize the compliant finger. The developed finger is a monolithic compliant mechanism prototyped by 3D printing using flexible thermoplastic filament. The proposed gripper module is mounted on a six-Axis industrial robot to demonstrate its capability in handing of fragile objects such as apple, glass cup, egg, water balloon, and balloon. The proposed compliant gripper is a low-cost, sensor-less design which can be used in adaptive grasping of size-varied fragile objects.

原文English
主出版物標題2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding
發行者Institute of Electrical and Electronics Engineers Inc.
頁面129-134
頁數6
ISBN(電子)9781538676745
DOIs
出版狀態Published - 2018 十二月 19
事件1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Beijing, China
持續時間: 2018 八月 16 → …

出版系列

名字2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding

Other

Other1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018
國家/地區China
城市Beijing
期間18-08-16 → …

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 機械工業
  • 控制和優化

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