Seibel Arthur, Yıldız Mert, Zorlubaş And Berkan
Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany.
Biomimetics (Basel). 2020 Mar 25;5(2):12. doi: 10.3390/biomimetics5020012.
This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object's surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface.
本文介绍了一种软被动式夹具，它由六个呈星形排列的流体软弯曲致动器组成。这些致动器的定向方式使得在加压时，它们会逆着重力弯曲。通过将带有蘑菇形粘合结构的商用胶带粘贴到夹具的底部贴片上来实现抓取。这样，通过将致动器从物体表面剥离来释放物体。与主动式夹具不同，主动式夹具在抓取和保持过程中需要持续加压，而本文提出的被动式夹具仅在释放过程中需要能量。然而，由于其工作原理，该夹具仅限于扁平物体或至少有一个平面的物体。
