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Hybrid-Driven Origami Gripper with Variable Stiffness and Finger Length.
Zhuang Zhang1,2, Weicheng Fan1, Yongzhou Long1
1State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, 200240, China.
Cyborg and Bionic Systems (Washington, D.C.)
|April 15, 2024
Summary
This study presents a novel hybrid-driven soft gripper with adjustable stiffness and range using origami finger structures. This design enhances grasping strength and manipulation for versatile robotic applications.
Area of Science:
- Robotics
- Mechanical Engineering
- Materials Science
Background:
- Soft grippers offer safe and versatile grasping but lack strength and manipulation capacity due to compliant materials.
- Traditional rigid grippers have limitations in adaptability and object handling compared to soft alternatives.
Purpose of the Study:
- To introduce a hybrid-driven soft gripper design with adjustable finger stiffness and variable grasping range.
- To enhance the strength and manipulation capabilities of soft grippers for diverse applications.
Main Methods:
- The gripper design utilizes origami finger structures actuated by pneumatic and cable systems.
- Adjusting cable lengths and input pressure precisely controls the origami structure's contraction, extension, finger length, and stiffness.
- A kinematic model of the origami finger was developed for precise control of bending angles.
Main Results:
- The hybrid-driven design enables adjustable finger stiffness and variable grasping range.
- Precise control over finger contraction, extension, length, and stiffness was achieved.
- The kinematic model facilitates effective grasping of diverse objects and in-hand manipulation.
Conclusions:
- The proposed hybrid-driven origami soft gripper offers a simple yet effective approach to safe, powerful, and adaptive grasping.
- This design significantly improves the manipulation capacity of soft grippers.
- The method enriches the field of soft robotics with enhanced grasping and in-hand manipulation capabilities.
