Zolfagharian Ali, Gharaie Saleh, Gregory Jack, Bodaghi Mahdi, Kaynak Akif, Nahavandi Saeid
School of Engineering, Deakin University, Geelong, Australia.
Department of Engineering, School of Science and Technology, Nottingham Trent University, Nottingham, United Kingdom.
Soft Robot. 2022 Aug;9(4):680-689. doi: 10.1089/soro.2020.0194. Epub 2021 Jul 23.
A compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spiral spring in this study. The soft gripper is then 3D-printed using a suitable thermoplastic filament material to deliver the desired performance. The sensorless mechanism introduced in this study provides adequate compliance with a single linear actuator for interacting with delicate objects, such as manipulation of human biological materials and fruit picking. The kinematic and dynamic models of the monolithic gripper are derived analytically as well as by means of finite element analysis to synthesize its functionality. The fabricated gripper module is installed on a robot arm to demonstrate the efficacy of design for picking and placing fruits without damaging them. The presented mechanism could be customized and used in the medical and agricultural sectors with diverse geometry objects.
在本研究中，基于仿生螺旋弹簧设计了一种柔顺的三维（3D）打印软夹爪。然后使用合适的热塑性长丝材料对软夹爪进行3D打印，以实现所需性能。本研究中引入的无传感器机制通过单个线性致动器提供足够的柔顺性，以便与诸如人类生物材料操作和水果采摘等易碎物体进行交互。通过解析方法以及有限元分析得出整体夹爪的运动学和动力学模型，以综合其功能。将制造的夹爪模块安装在机器人手臂上，以展示在不损坏水果的情况下进行采摘和放置的设计效果。所提出的机制可以进行定制，并用于医疗和农业领域中具有不同几何形状的物体。
