Paper Info
Title
Pressure and Tendon Actuation Integrated Three-finger Soft Gripper for Wide Force and Speed Range Grasping
Abstract
A wide grasping force range enables gripper to grasp a range of objects from fragile and lightweight to rigid and heavy, while a wide grasping speed range allows it to both grasp carefully and respond quickly. However, combining the two features in a compact structure is still a great challenge for existing grippers, as a single actuation method usually has its limitations. Here, we try to integrate two complementary actuation methods: air pressure actuation and tendon actuation, into a compact and simple three-finger soft gripper, targeting to well combine the high grasping force and continuously adjustable grasping speed of the tendon actuation, as well as the sensitivity to tiny force and extremely fast response speed of the air pressure actuation to achieve a relatively wide force and speed range. The experiments show that the gripper can not only safely grasp a piece of fragile potato chips and stably capture a thrown tennis ball with a 1214 degree/s speed in the pneumatic mode, but also can produce a grasping force of up to 48.12N and carefully grasp an upright pen without knocking it over in the tendon-driven mode. This design preliminarily shows the potential of combining two actuation methods with complementary characteristics in the grasping tasks, and may provide inspiration for related future research.
Year
DOI
Venue
2021
10.1109/M2VIP49856.2021.9665057
2021 27TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP)
Keywords
DocType
Citations 
soft gripper, tendon actuation, air pressure actuation
Conference
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Jiaqi Zhu100.68
Wenjie Fei200.34
Han Ding349978.16
Zhigang Wu400.34