School of Computer Science, College of Engineering and Information Technology, Semyung University, Jecheon, Chungcheongbuk-do 27136, Republic of Korea.
Interaction Laboratory of Advanced Technology Research Center, Korea University of Technology and Education, Cheonan, Chungcheongnam-do 31253, Republic of Korea.
ACS Appl Mater Interfaces. 2020 Sep 30;12(39):44147-44155. doi: 10.1021/acsami.0c11783. Epub 2020 Sep 15.
Developing a simple and universal solution for gripping fragile, multiscaled, and arbitrary-shaped objects using a robot gripper is challenging. Herein, we propose a universal, shape-adaptive/-retaining and reversible, hardness-variable gripper skin that serves as a resourceful solution for grasping such objects without damaging them. The proposed universal gripper skin based on a magnetorheological elastomer is attached to a robot gripper. The proposed skin takes the shape of a target object as soon as the gripper grasps the object. At this time, we solidify the gripper skin by applying a magnetic field, thereby allowing the gripper to grasp the target object easily. After releasing the objects, the magnetic field is removed and the deformed proposed gripper skin rapidly restores its original shape. The proposed adaptive gripper skin is made to grasp various target objects, such as cylinders, cuboids, and triangular prisms, based on which its grasping performance is evaluated.
使用机器人夹持器开发一种简单且通用的解决方案来夹持易碎的、多尺度的和任意形状的物体是具有挑战性的。在此，我们提出了一种通用的、形状自适应/保持和可逆的、硬度可变的夹持器外皮，它是一种有针对性的解决方案，可以在不损坏物体的情况下抓取这些物体。基于磁流变弹性体的提出的通用夹持器外皮附接到机器人夹持器上。一旦夹持器抓住物体，提出的外皮就会采用目标物体的形状。此时，我们通过施加磁场使夹持器外皮固化，从而使夹持器能够轻松地抓住目标物体。在释放物体后，移除磁场，变形的提出的夹持器外皮迅速恢复其原始形状。根据夹持性能，提出的自适应夹持器外皮被设计用于夹持各种目标物体，例如圆柱体、长方体和三棱柱。
