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Bio-Inspired Shape-Adaptive Soft Robotic Grippers Augmented with Electroadhesion Functionality.

Rui Chen1, Ruizhou Song1, Zhuo Zhang1

  • 1State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China.

Soft Robotics
|July 23, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces FinEA, a novel soft robotic gripper combining electroadhesion with a bio-inspired Fin Ray structure. This innovative design enhances grasping capabilities for delicate and irregularly shaped objects, improving robotic manipulation safety and versatility.

Keywords:
Fin Ray structureelectroadhesionshape-adaptivesoft robotic grippers

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Soft robotic grippers (SRGs) offer safe and versatile grasping for delicate and complex objects.
  • Existing SRGs face limitations in handling diverse geometries and providing controllable adhesion.

Purpose of the Study:

  • To develop a bio-inspired, shape-adaptive soft robotic gripper with electroadhesion (EA) functionality.
  • To enhance grasping capabilities for a wider range of objects, including delicate and irregularly shaped items.
  • To create a cost-effective and versatile robotic gripper solution.

Main Methods:

  • Fabrication of EA pads via screen printing conductive elastomers.
  • Structural optimization of Fin Ray fingers using finite element analysis (FEA).
  • Integration of soft lithography and 3D printing for finger construction.

Main Results:

  • The FinEA gripper successfully lifted flat, thin, concave, and convex objects without distortion.
  • Grasping of delicate items with diameters exceeding the gripper's length was achieved.
  • A 65% increase in shear weight capacity was observed with applied voltage (4 kV vs. 0 V).

Conclusions:

  • The FinEA gripper offers a controllable, adhesion-based solution for soft robotics.
  • The bio-inspired, shape-adaptive design enhances versatility and functionality in robotic grasping.
  • This concept paves the way for future advancements in adaptable and functional soft robotic grippers.