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Soft-stable interface in grasping multiple objects by wiring-tension.

Pho Van Nguyen1,2, Dhyan Bohra Sunil3,4, Wai Tuck Chow5

  • 1School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore. ngvphobk08@gmail.com.

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Summary
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This study presents a novel hybrid robot hand that uses elastic wires for stable, adaptable multi-object manipulation. This soft robotic gripper achieves high success rates and durability for complex objects without intricate control systems.

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Area of Science:

  • Robotics
  • Materials Science

Background:

  • Soft robotic hands face challenges in stable manipulation of multiple objects with varying geometries.
  • Existing designs often lack the necessary combination of load-bearing stability and adaptive compliance.

Purpose of the Study:

  • To develop a novel robot hand platform for efficient multi-object manipulation.
  • To create a hybrid finger design integrating elastic wires with robust skeletons.

Main Methods:

  • A theoretical model was developed to predict the kinematics of multi-object manipulation using wiring-based fingers.
  • A hybrid gripper with two wiring-based fingers was designed and constructed.
  • Experimental evaluations were performed using diverse object sets including gears, connectors, and bottles.

Main Results:

  • The hybrid gripper demonstrated high success rates in manipulating multiple objects.
  • Durability tests showed consistent performance across various lifting velocities.
  • The soft-contact design exhibited high adaptability to different object shapes.

Conclusions:

  • The proposed hybrid finger design offers a promising solution for stable and adaptive multi-object manipulation in soft robotics.
  • This approach simplifies control requirements for complex object handling tasks.
  • The developed platform shows potential for applications requiring versatile robotic grippers.