Tailoring the in-plane and out-of-plane stiffness of soft fingers by endoskeleton topology optimization for stable grasping

作     者：LI DeChen CHEN ShiTong SONG ZeNan LIANG JiaLong ZHU XiangYang CHEN FeiFei 

作者机构：State Key Laboratory of Mechanical System and VibrationSchool of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China Meta Robotics InstituteShanghai Jiao Tong UniversityShanghai 200240China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2023年第66卷第11期

页      面：3080-3089页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 080501[工学-材料物理与化学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 

基　　金：supported by the National Natural Science Foundation of China (Grant Nos.52275026 and 91948302) the State Key Laboratory of Structural Analysis for Industrial Equipment (Grant No.GZ21117) 

主　　题：soft robot soft gripper stable grasping topology optimization pneumatic actuator 

摘      要：The intrinsic compliance of soft materials endows soft robots with great advantages to achieve large deformation and adaptive interactions in grasping ***,current soft grippers usually focus on the in-plane large deformation and load capacity but ignore the effect of out-of-plane external loads,which may lead to instability in practical *** problem calls for stiffness design along multiple directions to withstand not only in-plane interacting forces with objects,but also unexpected outof-plane *** this paper,we design a new type of soft finger by embedding an endoskeleton inside the widely-used PneuNets actuator,and the endoskeleton layout is optimized to achieve a remarkable bending deflection and limited lateral deflection under combined external in-plane and out-of-plane *** on the multi-objective topology optimization approach,the key structural features of the optimized endoskeleton are extracted and *** multi-material soft fingers are fabricated by the silicone compound mold *** and dynamic experiment results validate that the soft gripper with endoskeleton embedded exhibits remarkably improved out-of-plane stiffness,without sacrificing the in-plane bending flexibility,and leads to more stable grasping.