A robot slide tactile sensor based on photoelectric devices is introduced.The sensor is mounted on the hydraulic manipulator and used in a soft grasp control system.The experimental results are also presented.
It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of obje...It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.展开更多
提出了一种单顶点多折痕(single-vertex and multi-crease,SVMC)的双稳态折纸软体夹持器,具有结构简单、成本低、变形速度快、承载能力强等优点,有效改善了传统模型响应速度慢、夹持效率低等缺陷。该模型基于水弹结构建立,利用球面三角...提出了一种单顶点多折痕(single-vertex and multi-crease,SVMC)的双稳态折纸软体夹持器,具有结构简单、成本低、变形速度快、承载能力强等优点,有效改善了传统模型响应速度慢、夹持效率低等缺陷。该模型基于水弹结构建立,利用球面三角形余弦定理分析了折痕角度之间的关系并建立运动学方程;同时借助扭簧模型探究变形过程中的势能转化规律。分析了折痕长度与初始角度对能力存储和释放过程的影响,并以此为基础优化了模型结构参数。实验结果表明,当受到2.6 N的外部触发力时,软体夹持器可在61 ms内完成从外展姿态到内缩状态的变化,实现对目标表面的快速包络;同时,借助线绳驱动提供更大的夹紧力,完成对目标的高效稳定抓取。此模型可广泛应用于复杂轮廓目标抓取和快速食品分拣领域。展开更多
Recently, soft grippers have garnered considerable interest in various fields, such as medical rehabilitation, due to their high compliance. However, the traditional PneuNet only reliably grasps medium and largeobjects...Recently, soft grippers have garnered considerable interest in various fields, such as medical rehabilitation, due to their high compliance. However, the traditional PneuNet only reliably grasps medium and largeobjects via enveloping grasping (EG), and cannot realize pinching grasping (PG) to stably grasp small and thinobjects as EG requires a large bending angle whereas PG requires a much smaller one. Therefore, we proposeda multi-structure soft gripper (MSSG) with only one vent per finger which combines the PneuNet in the proximal segment with the normal soft pneumatic actuator (NSPA) in the distal segment, allowing PG to be realizedwithout a loss in EG and enhancing the robustness of PG due to the height difference between the distal andproximal segments. Grasping was characterized on the basis of the stability (finger bending angle describes) androbustness (pull-out force describes), and the bending angle and pull-out force of MSSG were analyzed using thefinite element method. Furthermore, the grasping performance was validated using experiments, and the resultsdemonstrated that the MSSG with one vent per finger was able to realize PG without a loss in EG and effectivelyenhance the PG robustness.展开更多
文摘A robot slide tactile sensor based on photoelectric devices is introduced.The sensor is mounted on the hydraulic manipulator and used in a soft grasp control system.The experimental results are also presented.
基金supported by the National Natural Science Foundation of China (Grant No. 62073305)the Fundamental Research Funds for the Central Universities,China University of Geosciences (Wuhan) (Grant Nos. CUG170610 and CUGGC02)。
文摘It is a key challenge for soft grasping devices to stably grasp unstructured objects with multi-size and multi-shape. The conventional single-function grippers have some limitations in grasping the above kinds of objects. This work proposes a modular four-modal soft grasping device(MFSGD), which consists of soft fingers, suction cups, soft wrapper, and other structures. It can perform a variety of grasping modes such as bending grasping mode, wrapping grasping mode, end liftingsucking mode, and side fixed-sucking mode. It may be one of the devices with the most grasping modes at present. Moreover, the device adopts a fully modular design with different structures connected by magnets. It is not only convenient to disassemble or assemble, so as to solve the mutual interference of different modal structures problem during grasping, but also simplifies the fabrication of the multi-modal grasping device. In addition, this work matches the suitable grasping modes for objects of different shapes and sizes, and obtains the relative characteristics of the MFSGD. The proposed device can improve the ability of the grasping robots, and is expected to play an important role in economic and industrial fields.
文摘提出了一种单顶点多折痕(single-vertex and multi-crease,SVMC)的双稳态折纸软体夹持器,具有结构简单、成本低、变形速度快、承载能力强等优点,有效改善了传统模型响应速度慢、夹持效率低等缺陷。该模型基于水弹结构建立,利用球面三角形余弦定理分析了折痕角度之间的关系并建立运动学方程;同时借助扭簧模型探究变形过程中的势能转化规律。分析了折痕长度与初始角度对能力存储和释放过程的影响,并以此为基础优化了模型结构参数。实验结果表明,当受到2.6 N的外部触发力时,软体夹持器可在61 ms内完成从外展姿态到内缩状态的变化,实现对目标表面的快速包络;同时,借助线绳驱动提供更大的夹紧力,完成对目标的高效稳定抓取。此模型可广泛应用于复杂轮廓目标抓取和快速食品分拣领域。
基金the National Key Research and Development Program of China(No.2020YFB1313100)。
文摘Recently, soft grippers have garnered considerable interest in various fields, such as medical rehabilitation, due to their high compliance. However, the traditional PneuNet only reliably grasps medium and largeobjects via enveloping grasping (EG), and cannot realize pinching grasping (PG) to stably grasp small and thinobjects as EG requires a large bending angle whereas PG requires a much smaller one. Therefore, we proposeda multi-structure soft gripper (MSSG) with only one vent per finger which combines the PneuNet in the proximal segment with the normal soft pneumatic actuator (NSPA) in the distal segment, allowing PG to be realizedwithout a loss in EG and enhancing the robustness of PG due to the height difference between the distal andproximal segments. Grasping was characterized on the basis of the stability (finger bending angle describes) androbustness (pull-out force describes), and the bending angle and pull-out force of MSSG were analyzed using thefinite element method. Furthermore, the grasping performance was validated using experiments, and the resultsdemonstrated that the MSSG with one vent per finger was able to realize PG without a loss in EG and effectivelyenhance the PG robustness.
