Design and Testing of a Soft Gripper That can be Fitted to a Collaborative Robot Arm
Main Article Content
Abstract
With the appearance of collaborative robots, the demand has increased for grippers with special properties that are able to perform certain tasks together with the operator in the robot's workspace without endangering human health. These processes require the performance of delicate operations similar to the movement of human limbs. For these tasks, the soft grippers can be suitable solutions. There is great potential in soft-designed robot grippers, as they are able to offer modern solutions to industrial problems that have so far proved unsolvable or only difficult to implement. The study presents a gripper built from soft elements, and after attached to a collaborative robot, it can perform laboratory work, more precisely moving Petri dishes of different sizes. After the presentation of the design process and the determination of the geometric parameters, the methods and materials used for the construction are described. The study deals in detail with the process and summation of the measurements performed separately with the gripper components and on the assembled gripper. Finally, the results of the performed measurements and functional and usability tests are presented.
Downloads
Article Details
References
Brown, E., Rodenberg, N., Amend, J. (2010): Universal robotic gripper based on the jamming of granular material. Proceedings of the National Academy of Sciences, 107 (44): 18809–18814. https://doi.org/10.1073/pnas.1003250107
Controzzi, M., Cipriani, C., Carrozza, M.C. (2014): Design of Artificial Hands: A Review. In: Balasubramanian, R., Santos, V. (szerk.): The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-319-03017-3_11
Deimel, R, Brock, O. (2016): A novel type of compliant and underactuated robotic hand for dexterous grasping. The International Journal of Robotics Research, 35 (1-3): 161–185. https://doi.org/10.1177/0278364915592961
Gorissen, B., Reynaerts, D., Konishi, S., Yoshida, K., Kim, J.-W., De Volder, M. (2017): Elastic Inflatable Actuators for Soft Robotic Applications. Advanced Materials, 29 (43): 1604977. https://doi.org/10.1002/adma.201604977
Ilievski, F., Mazzeo, A. D., Shepherd, R. F., Chen, X., Whitesides, G. M. (2011): Soft robotics for chemists. Angewandte Chemie, 50 (8): 1890–1895. https://doi.org/10.1002/anie.201006464
Melchiorri, C., Kaneko, M. (2008). Robot Hands. In: Siciliano, B., Khatib, O. (szerk.): Springer Handbook of Robotics. Springer, Berlin, Heidelberg. 345–360. https://doi.org/10.1007/978-3-540-30301-5_16
Polygerinos, P., Correll, N., Morin, S. A., Mosadegh, B., Onal, C. D., Petersen, K., Cianchetti, M., Tolley, M. T. and Shepherd, R. F. (2017): Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction . Adv. Eng. Mater., 19 (12): 1700016. https://doi.org/10.1002/adem.201700016
Rus, D., and Tolley, M. T. (2015): Design, fabrication and control of soft robots. Nature, 521: 467–475. https://doi.org/10.1038/nature14543
Shintake, J., Cacucciolo, V., Floreano, D., Shea, H. (2018): Soft Robotic Grippers. Advanced Materials, 30 (29): 1707035. https://doi.org/10.1002/adma.201707035
Suzumori, K., Iikura, S., Tanaka, H. (1992): Applying a flexible microactuator to robotic mechanisms. Control Systems. IEEE, 12: 21–27. https://doi.org/10.1109/37.120448