A Soft Robotic Gripper Module with 3D Printed Compliant Fingers for Grasping Fruits
| Autor: | Chih-Hsing Liu, Chen-Hua Chiu, Ta-Lun Chen, Tzu-Yang Pai, Yang Chen, Mao-Cheng Hsu |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Machine vision Underactuation Topology optimization 0211 other engineering and technologies Soft robotics 02 engineering and technology Linear actuator 020901 industrial engineering & automation Grippers SMT placement equipment business Robotic arm Computer hardware 021106 design practice & management |
| Zdroj: | AIM |
| DOI: | 10.1109/aim.2018.8452420 |
| Popis: | This study presents a soft robotic gripper module with 3D printed compliant fingers for grasping fruits. The proposed compliant gripper module is an underactuated two-finger sensor-less design which can be actuated by one linear actuator. A topology optimization method is used to synthesize the monolithic compliant finger. The topology optimized compliant finger is prototyped by 3D printing using flexible thermoplastic filament. The developed gripper module is mounted on a robot arm to pick and place a variety of fruits automatically via machine vision to demonstrate the effectiveness of the design. The results show the developed system can be used for automated grasping of fruits without causing surface damages. The proposed design is expected to be used to resolve the challenging issue for robotic automation of irregular and fragile objects. |
| Databáze: | OpenAIRE |
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