Bioinspired design and validation of a soft robotic end-effector with integrated shape memory alloy-driven suction capabilities.

Autor:	Zhou W; Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, People's Republic of China.; University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China., Xu C; Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, People's Republic of China.; University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China., Chen G; Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, People's Republic of China., Wang X; Institute of Intelligent Machines, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, People's Republic of China.
Jazyk:	angličtina
Zdroj:	Bioinspiration & biomimetics [Bioinspir Biomim] 2024 Dec 02; Vol. 20 (1). Date of Electronic Publication: 2024 Dec 02.
DOI:	10.1088/1748-3190/ad936e
Abstrakt:	The exploration of adaptive robotic systems capable of performing complex tasks in unstructured environments, such as underwater salvage operations, presents a significant challenge. Traditional rigid grippers often struggle with adaptability, whereas bioinspired soft grippers offer enhanced flexibility and adaptability to varied object shapes. In this study, we present a novel bioinspired soft robotic gripper integrated with a shape memory alloy (SMA) actuated suction cup, inspired by the versatile grasping strategies of octopus arms and suckers. Our design leverages a tendon-driven composite arm, enabling precise bending and adaptive grasping, combined with SMA technology to create a compact, efficient suction mechanism. We develop comprehensive kinematic and static models to predict the interaction between arm bending deflection and suction force, thereby optimizing the gripper's performance. Experimental validation demonstrates the efficacy of our integrated design, highlighting its potential for advanced manipulation tasks in challenging environments. This work provides a new perspective on the integration of bioinspired design principles with smart materials, paving the way for future innovations in adaptive robotic systems. (© 2024 IOP Publishing Ltd. All rights, including for text and data mining, AI training, and similar technologies, are reserved.)
Databáze:	MEDLINE
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