Paper Info
Title
A Bioinspired Composite Finger With Self-Locking Joints
Abstract
This letter presents a bioinspired composite finger with self-locking joints that can perform long-time and high-load (27.8 N) grasping tasks with low power consumption. Inspired by the ratchet wrench, the self-locking joint includes a ratchet mechanism to provide a large grip force for the finger through mechanical interlocking. The finger uses two shape memory alloy coils (SMAc) to drive the tendon and open the interlocking. The locked position and strength are studied through kinematics and finite element analysis. In the experiments, the motion of the finger is optimized to achieve a robust grasp. A portable three-finger gripper is used to grasp and lift heavy objects with high payload-to-weight ratio. The gripper with remote control shows its potential applications, for example, in assisting unmanned aerial vehicles to perform tasks of perching and grasping.
Year
DOI
Venue
2021
10.1109/LRA.2021.3056345
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Soft robot materials and design, grippers and other end-effectors, grasping, biologically-inspired robots
Journal
6
Issue
ISSN
Citations 
2
2377-3766
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Qiqiang Hu100.34
Hanjin Huang200.34
Erbao Dong372.21
Dong Sun496687.31