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Bioinspired Soft Robotic Fingers with Sequential Motion Based on Tendon-Driven Mechanisms.

Yin Zhang1, Wang Zhang2, Jialong Yang1

  • 1School of Aeronautics and Astronautics, Sichuan University, Chengdu, China.

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Summary

This study introduces a novel soft robotic finger inspired by human fingers, utilizing a stiffness gradient achieved through 3D printing. This design enables sequential motion, enhancing conformability and grasping capabilities for soft robotic grippers.

Keywords:
3D printingbioinspired soft robotssequential motionsoft robotic fingerstendon-driven mechanisms

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robotic grippers face challenges in conformability due to continuous deformation under external forces.
  • Existing designs often lack the nuanced motion required for versatile grasping.

Purpose of the Study:

  • To develop a novel tendon-driven soft robotic finger with human-like sequential motion.
  • To investigate the use of stiffness gradients achieved via 3D printing for controlled finger deformation.
  • To enhance the conformability and grasping capabilities of soft robotic grippers.

Main Methods:

  • Investigated the effect of 3D printing anisotropy on mechanical properties using tensile tests.
  • Established kinematic, stiffness, and fingertip trajectory models to analyze joint behavior.
  • Conducted experiments on a self-built platform to evaluate sequential motion induced by stiffness gradients.

Main Results:

  • Soft robotic fingers with sequential motion demonstrated excellent conformability on surfaces with varying curvatures.
  • Sequential motion fingers outperformed non-sequential ones with a larger envelop range.
  • Finger deformability was tunable by adjusting joint stiffness without altering fingertip trajectories.

Conclusions:

  • The proposed stiffness gradient mechanism enables human-like sequential motion in soft robotic fingers.
  • This approach significantly improves conformability and grasping performance for soft robotic grippers.
  • The developed two-finger gripper showcases practical application potential for diverse objects.