有效载荷(计算)
干扰
夹持器
机器人
适应性
机械工程
执行机构
软机器人
工程类
计算机科学
航空航天工程
人工智能
物理
生物
热力学
计算机网络
网络数据包
生态学
作者
Xianpai Zeng,Hai-Jun Su
出处
期刊:Journal of Mechanisms and Robotics
[ASME International]
日期:2022-02-16
卷期号:15 (1)
被引量:2
摘要
Abstract This article presents a novel soft robotic gripper with a high payload capacity based on the layer jamming technology. Soft robots have a high adaptability, however suffer a low payload capacity. To overcome these conflicting challenges, here we introduce a 3D printed multi-material gripper that integrates jamming layers for enhancing payload capacity. By inflating the internal air chamber with positive pressure, the finger can be actuated to a large bending angle for adapting complex shapes. Layers of jamming sheets are bounded on the finger structure and are then sealed inside a vacuum bag. When a high payload is desired, air inside the vacuum bag is drawn out and a negative air pressure is applied to the jamming layers, which leads to the gripper locked at the actuated shape. To evaluate the performance of the gripper, we conducted extensive tests including actuation, stiffness variation, typical payload capacity, and adaptability. The results show that our gripper is not only highly adaptable just like most soft grippers but also more importantly capable of grasping heavy (about 6–10 kg) objects comparable to rigid-body counterparts.
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