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Vitrimeric shape memory polymer-based fingertips for adaptive grasping.

Seyedreza Kashef Tabrizian1, Walter Alabiso2, Usman Shaukat2

  • 1Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium.

Frontiers in Robotics and AI
|July 28, 2023
PubMed
Summary
This summary is machine-generated.

Researchers developed 3D-printed shape memory polymer-based shape-adaptive fingertips (SMP-SAF) to address robotic grasping challenges. These fingertips adapt shape and rigidity for effective manipulation of diverse objects without continuous external power.

Keywords:
adaptive graspingadditive manufacturingmanipulationshape adaptive fingertipshape memory polymer

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Area of Science:

  • Materials Science
  • Robotics
  • Polymer Chemistry

Background:

  • Variability in object shapes and sizes poses a significant challenge for conventional two-finger robotic grippers.
  • Existing robotic grippers often lack the adaptability to securely manipulate objects with diverse geometries.
  • Vitrimer chemistry offers a pathway to dynamic covalent bonds, enabling reversible changes in polymer mechanical properties.

Purpose of the Study:

  • To design and develop novel shape-adaptive fingertips for robotic grippers.
  • To enable robotic grippers to effectively grasp objects of varying shapes and sizes.
  • To create fingertips with shape memory properties and variable rigidity for secure object manipulation.

Main Methods:

  • Two designs of 3D-printed shape memory polymer-based shape-adaptive fingertips (SMP-SAF) were developed based on vitrimer chemistry.
  • Design 1 features a curved part for delicate objects, activated by shape memory after initial gripper force application.
  • Design 2 utilizes a straight part that conforms to hard objects via contact force, simplifying shape programming.

Main Results:

  • The SMP-SAFs demonstrate the ability to adapt their shape to different objects.
  • The fingertips exhibit variable rigidity, locking their adapted shape upon cooling without continuous external triggering.
  • Programming involves heating above the glass transition temperature (54°C) via Joule heating or a heat gun, followed by reshaping and cooling.

Conclusions:

  • The developed SMP-SAFs offer a promising solution for robotic grasping of diverse objects.
  • The shape-adaptive and variable rigidity features enhance manipulation capabilities for both fragile and hard objects.
  • This technology is suitable for adaptive sorting lines where object variety changes in batches, not per grasp.