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Hybrid-Driven Origami Gripper with Variable Stiffness and Finger Length.
Zhang, Zhuang; Fan, Weicheng; Long, Yongzhou; Dai, Jiabei; Luo, Junjie; Tang, Shujie; Lu, Qiujie; Wang, Xinran; Wang, Hao; Chen, Genliang.
Afiliación
  • Zhang Z; State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Fan W; School of Engineering, Westlake University, Hangzhou, Zhejiang, 310030, China.
  • Long Y; State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Dai J; State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Luo J; State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Tang S; State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Lu Q; State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
  • Wang X; Academy for Engineering and Technology, Fudan University, 200433, Shanghai, China.
  • Wang H; Reds Lab, Dyson School of Design Engineering, Imperial College London, London, SW7 2DB, U.K.
  • Chen G; Reds Lab, Dyson School of Design Engineering, Imperial College London, London, SW7 2DB, U.K.
Cyborg Bionic Syst ; 5: 0103, 2024.
Article en En | MEDLINE | ID: mdl-38617112
ABSTRACT
Soft grippers due to their highly compliant material and self-adaptive structures attract more attention to safe and versatile grasping tasks compared to traditional rigid grippers. However, those flexible characteristics limit the strength and the manipulation capacity of soft grippers. In this paper, we introduce a hybrid-driven gripper design utilizing origami finger structures, to offer adjustable finger stiffness and variable grasping range. This gripper is actuated via pneumatic and cables, which allows the origami structure to be controlled precisely for contraction and extension, thus achieving different finger lengths and stiffness by adjusting the cable lengths and the input pressure. A kinematic model of the origami finger is further developed, enabling precise control of its bending angle for effective grasping of diverse objects and facilitating in-hand manipulation. Our proposed design method enriches the field of soft grippers, offering a simple yet effective approach to achieve safe, powerful, and highly adaptive grasping and in-hand manipulation capabilities.
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Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: Cyborg Bionic Syst Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos
Texto completo
Añadir a Mi BVS
Imprimir
XML
PubMed Links
Buscar en Google

Texto completo: 1 Colección: 01-internacional Base de datos: MEDLINE Idioma: En Revista: Cyborg Bionic Syst Año: 2024 Tipo del documento: Article País de afiliación: China Pais de publicación: Estados Unidos