夹持器
电容感应
执行机构
计算机科学
抓住
材料科学
机械工程
人工智能
工程类
操作系统
程序设计语言
作者
Zachary Yoder,Daniela Macari,Gavriel Kleinwaks,Ingemar Schmidt,Eric Acome,Christoph Keplinger
标识
DOI:10.1002/adfm.202209080
摘要
Abstract Soft robotic grippers achieve increased versatility and reduced complexity through intelligence embodied in their flexible and conformal structures. The most widely used soft grippers are pneumatically driven; they are simple and effective but require bulky air compressors that limit their application space and external sensors or computationally expensive vision systems for pick verification. In this study, a multi‐material architecture for self‐sensing electrohydraulic bending actuators is presented that enables a new class of highly versatile and reconfigurable soft grippers that are electrically driven and feature capacitive pick verification and object size detection. These electrohydraulic grippers are fast (step input results in finger closure in 50 ms), draw low power (6.5 mW per finger to hold grasp), and can pick a wide variety of objects with simple binary electrical control. Integrated high‐voltage driving electronics are presented that greatly increase the application space of the grippers and make them readily compatible with commercially available robotic arms.
科研通智能强力驱动
Strongly Powered by AbleSci AI