NIMTE OpenIR  > 2018专题
Modeling of grasping force for a soft robotic gripper with variable stiffness
Yin Haibin; Kong Cheng; Li Junfeng; Yang Guilin
2018
Source PublicationMECHANISM AND MACHINE THEORY
Volume128Pages:254-274
AbstractThe purpose of this research is to present a grasping force model for a soft robotic gripper with variable stiffness. The soft robotic gripper was made of shape memory alloys (SMAs) with contraction and variable stiffness properties. A variable stiffness mechanism with embedded sets of SMA fibers was developed; however, the response characteristics of its backbone did not comply with the constant-curvature model when it was subjected to complex forces/torques, such as gravity, grasping forces and driving torques. In this case, the Cosserat theory was used to implement real-time computations of the grasping force of the soft robotic gripper that was subjected to complex forces. Finally, a series of tests were conducted on the grasping force of the soft finger and the gripper. The elicited results showed that the grasping force is related to the stiffness and to the object's offset and friction coefficient. Moreover, experimental results showed that the grasping force of the soft robotic gripper increased by 48.7% when the Young's modulus of the SMA-2 wires increased from 25 GPa to 48 GPa. (C) 2018 Elsevier Ltd. All rights reserved.
KeywordShape-memory Alloy Minimally Invasive Surgery Design Actuator Capability Driven Finger Fibers Wire
Subject AreaMaterials Science ; Physics
Language英语
Document Type期刊论文
Identifierhttp://ir.nimte.ac.cn/handle/174433/17141
Collection2018专题
Recommended Citation
GB/T 7714
Yin Haibin,Kong Cheng,Li Junfeng,et al. Modeling of grasping force for a soft robotic gripper with variable stiffness[J]. MECHANISM AND MACHINE THEORY,2018,128:254-274.
APA Yin Haibin,Kong Cheng,Li Junfeng,&Yang Guilin.(2018).Modeling of grasping force for a soft robotic gripper with variable stiffness.MECHANISM AND MACHINE THEORY,128,254-274.
MLA Yin Haibin,et al."Modeling of grasping force for a soft robotic gripper with variable stiffness".MECHANISM AND MACHINE THEORY 128(2018):254-274.
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