The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this pro...The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this problem,a novel bionic pneumatic gripper inspired by spider legs is proposed.The design has two pairs of symmetrical fingers,each finger consists of two pneumatic actuated joints,two rigid links and one pneumatic soft pad.The rigid link connects the pneumatic chamber which is enclosed in a retractable shell to increase the actuation pressure and the gripping force.The compressibility and elasticity of the soft joint and pad enable the gripper to grasp fragile objects without damage.The modeling of the bionic gripper is developed,and the parameters of the joint actuators are optimized accordingly.The prototype is manufactured and tested with the developed experimental platform,where the gripping force,flexibility and adaptability are evaluated.The results indicate that the designed gripper can grasp irregular and fragile items in sizes from 40 to 140 mm without damage,and the lifting weight is up to 15 N.展开更多
Stereo vision systems are widely used for autonomous robot navigation. Most of them apply local window based methods for real-time purposes. Normalized cross correlation （NCC） is notorious for its high computational...Stereo vision systems are widely used for autonomous robot navigation. Most of them apply local window based methods for real-time purposes. Normalized cross correlation （NCC） is notorious for its high computational cost, though it is robust to different illumination conditions between two cameras. It is rarely used in real-time stereo vision systems. This paper proposes an efficient normalized cross correlation calculation method based on the integral image technique. Its computational complexity has no relationship to the size of the matching window. Experimental results show that our algorithm can generate the same results as traditional normalized cross correlation with a much lower computational cost. Our algorithm is suitable for planet rover navigation.展开更多
基金supported by the National Natural Science Foundation of China (52175100,51975394)the Natural Science Foundation of Jiangsu Province (BK20211336).
文摘The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this problem,a novel bionic pneumatic gripper inspired by spider legs is proposed.The design has two pairs of symmetrical fingers,each finger consists of two pneumatic actuated joints,two rigid links and one pneumatic soft pad.The rigid link connects the pneumatic chamber which is enclosed in a retractable shell to increase the actuation pressure and the gripping force.The compressibility and elasticity of the soft joint and pad enable the gripper to grasp fragile objects without damage.The modeling of the bionic gripper is developed,and the parameters of the joint actuators are optimized accordingly.The prototype is manufactured and tested with the developed experimental platform,where the gripping force,flexibility and adaptability are evaluated.The results indicate that the designed gripper can grasp irregular and fragile items in sizes from 40 to 140 mm without damage,and the lifting weight is up to 15 N.
文摘Stereo vision systems are widely used for autonomous robot navigation. Most of them apply local window based methods for real-time purposes. Normalized cross correlation （NCC） is notorious for its high computational cost, though it is robust to different illumination conditions between two cameras. It is rarely used in real-time stereo vision systems. This paper proposes an efficient normalized cross correlation calculation method based on the integral image technique. Its computational complexity has no relationship to the size of the matching window. Experimental results show that our algorithm can generate the same results as traditional normalized cross correlation with a much lower computational cost. Our algorithm is suitable for planet rover navigation.
