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Related Concept Videos

Machines01:19

Machines

233
Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. One example of a machine is the cutting plier, which is used to cut wires by applying forces to its handles. When equal and opposite forces are exerted on the handles of the cutting plier, they cause the cutting edges to come together and apply equal and opposite reaction forces on the wire, which are greater than the applied forces.
A free-body diagram of the...
233
Simplification of a Force and Couple System: II01:23

Simplification of a Force and Couple System: II

254
In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
254
Support Reactions in Three Dimensions01:27

Support Reactions in Three Dimensions

864
Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
864
Machines: Problem Solving I01:22

Machines: Problem Solving I

284
A toggle clamp is a mechanical device commonly used for holding and clamping objects in various applications, such as woodworking, metalworking, and assembly operations. Consider a toggle clamp subjected to a force of 200 N at the handle. The vertical clamping force can be calculated, provided the dimensions of the toggle clamp are known.
The toggle clamp system is a machine structure consisting of movable, pin-connected multi-force members that form a stabilized system to transmit forces. The...
284

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Combining and Decoupling Rigid and Soft Grippers to Enhance Robotic Manipulation.

Maya Keely1, Yeunhee Kim2, Shaunak A Mehta1

  • 1Department of Mechanical Engineering, Collaborative Robotics Lab, Virginia Tech, Blacksburg, Virginia, USA.

Soft Robotics
|March 10, 2025
PubMed
Summary
This summary is machine-generated.

Researchers developed novel robotic grippers, called Rigid-Soft grippers (RISOs), that combine rigid and soft materials. This allows robots to grasp a wider variety of objects, from tiny to heavy, improving manipulation capabilities in unstructured environments.

Keywords:
adhesiongripperhuman–robot interactionrobotic manipulation

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Current robotic grippers, either rigid or soft, have limitations in handling diverse objects.
  • Rigid grippers struggle with small, numerous items, while soft grippers falter with heavy or irregular objects.

Purpose of the Study:

  • To introduce a novel approach called Rigid-Soft grippers (RISOs) that unifies rigid end-effectors with soft adhesives.
  • To enhance robotic manipulation capabilities by enabling a spectrum of grasps from fully rigid to fully soft.

Main Methods:

  • Modeling and characterizing soft switchable adhesives.
  • Integrating soft adhesives onto rigid end-effectors.
  • Developing control strategies for unified rigid and soft gripper mechanisms.

Main Results:

  • RISOs enable robotic manipulation across a 1.5 million-fold weight range (2 mg to 2.9 kg).
  • The hybrid grippers successfully picked up, carried, and released a broader diversity of objects compared to existing grippers.
  • User studies indicated a preference for the RISO gripper system.

Conclusions:

  • RISOs offer an exceptional range in robotic gripper capacity and object diversity.
  • The unified rigid-soft approach significantly advances robotic manipulation for everyday tasks in unstructured environments.