执行机构
刚度
夹持器
软机器人
机械工程
3D打印
气动执行机构
偏转(物理)
抗弯刚度
手指关节
形状记忆聚合物
工程类
材料科学
计算机科学
结构工程
复合材料
人工智能
形状记忆合金
物理
光学
作者
Yang Yang,Yonghua Chen,Ying Wei,Yingtian Li
出处
期刊:Journal of Mechanisms and Robotics
[ASME International]
日期:2016-09-08
卷期号:8 (6)
被引量:52
摘要
In this paper, a novel robotic gripper design with variable stiffness is proposed and fabricated using a modified additive manufacturing (hereafter called 3D printing) process. The gripper is composed of two identical robotic fingers and each finger has three rotational degrees-of-freedom as inspired by human fingers. The finger design is composed of two materials: acrylonitrile butadiene styrene (ABS) for the bone segments and shape-memory polymer (SMP) for the finger joints. When the SMP joints are exposed to thermal energy and heated to above their glass transition temperature (Tg), the finger joints exhibit very small stiffness, thus allow easy bending by an external force. When there is no bending force, the finger will restore to its original shape thanks to SMP's shape recovering stress. The finger design is actuated by a pneumatics soft actuator. Fabrication of the proposed robotic finger is made possible by a modified 3D printing process. An analytical model is developed to represent the relationship between the soft actuator's air pressure and the finger's deflection angle. Furthermore, analytical modeling of the finger stiffness modulation is presented. Several experiments are conducted to validate the analytical models.
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