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A variable stiffness Soft Gripper Using Granular Jamming and Biologically Inspired Pneumatic Muscles

Journal of Bionic Engineering 2018年第2期15卷 236-246页

作者： Loai AI Abeach Samia Nefti-Meziani Theo Theodoridis Steve Davis Autonomous Systems and Robotics Research Centre University of Salford Salford M5 4WT UK Computer Engineering Department College of Engineering Basra University Basra 61004 Iraq

As the domains, in which robots operate change the objects a robot may be required to grasp and manipulate, are likely to vary sig- nificantly and often. Furthermore there is increasing likelihood that in the future robots will work collaboratively alongside people. There has therefore been interest in the development of biologically inspired robot designs which take inspiration from nature. This paper pre- sents the design and testing of a variable stiffness, three fingered soft gripper, which uses pneumatic muscles to actuate the fingers and granular jamming to vary their stiffness. This gripper is able to adjust its stiffness depending upon how fragile/deformable the object being grasped is. It is also lightweight and low inertia, making it better suited to operation near people. Each finger is formed from a cylindrical rubber bladder filled with a granular material. It is shown how decreasing the pressure inside the finger increases the jamming effect and raises finger stiffness. The paper shows experimentally how the finger stiffness can be increased from 21 N·m^-1 to 71 N·m^-1. The paper also describes the kinematics of the fingers and demonstrates how they can be position-controlled at a range of different stiffness values.

关键词： biologically inspired robots variable stiffness actuation soft robotics soft grippers pneumatic muscles

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Pneumatically Actuated Soft Robotic Arm for Adaptable Grasping

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Acta Mechanica Solida Sinica 2018年第5期31卷 608-622页

作者： Zhe Chen Xueya Liang Tonghao Wu Tenghao Yin Yuhai Xiang Shaoxing Qu State Key Laboratory of Fluid Power and Mechatronic System 38 Zheda Road Hangzhou 310027 China Key Laboratory of Soft Machines and Smart Devices of Zhejiang Province 38 Zheda Road Hangzhou 310027 China Department of Engineering Mechanics Zhejiang University 38 Zheda Road Hangzhou 310027 China

Developing robotic manipulators capable of performing effective physical interac- tion tasks is a challenging topic. In this study, we design a soft robotic arm （SRA） with multiple degrees of freedom inspired by the flexible structures and the unique motion mechanism of the octopus arm. The SRA is fabricated with elastomeric materials, which consists of four series of integrated pneumatic chambers that play similar roles as the muscles in the octopus arm can achieve large bending in various directions with variable stiffness. This SRA displays specified movements via controlling pressure and selecting channels. Moreover, utilizing parallel control, the SRA demonstrates complicated three-dimensional motions. The force response and motion of the SRA are determined both experimentally and computationally. The applications of the present SRA include tightly coiling around the objects because of its large bending deformation （nearly 360°）, grasping multiple objects, and adjusting the grabbing mode in accordance with the shape of objects.

关键词： Soft robotic arm Elastomeric materials Soft manipulation variable stiffness actuation

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