Beijing Institute of Nanoenergy and Nanosystems, Chinese Academy of Sciences, Beijing 101400, China.
School of Nanoscience and Technology, University of Chinese Academy of Sciences, Beijing 100049, China.
ACS Nano. 2022 Feb 22;16(2):3008-3016. doi: 10.1021/acsnano.1c10396. Epub 2022 Feb 7.
In smart logistics, traditional manual sorting and sorting systems based on rigid manipulators limit the warehousing development and damage the goods. Here, a nondestructive sorting method based on bionic soft fingers is proposed. This method is implemented by the soft robotic gripper (SRG) for grasping of the breakable objects, the triboelectric sensor (TES) for size sorting of the objects, and the signal processing module. In the fabrication of SRG, the silicon rubber is prepared by controlling the material synthesis process, and its Young's modulus is 600.91 kPa, which is comparable to the Young's modulus of skin tissue. Also, the maximum input pressure of SRG is 71.4 kPa. The TES has a linear relationship between pulse number and sliding displacement, and its resolution is 3 mm. It induces pulse signal sequences to quantify the SRG bending state and thus realize the size sorting of objects. Additionally, a nondestructive sorting system based on TES and SRG has been developed for fruit sorting (e.g., apples, oranges), enabling nondestructive grasping and accurate sorting. Its sorting range is 70-120 mm, and the sorting accuracy rate is up to 95%. This work also provides a way for the application of SRG and triboelectric sensors in the sorting field.
在智能物流中，传统的基于刚性机械手的人工分拣和分拣系统限制了仓储的发展并损坏了货物。在这里，提出了一种基于仿生软指的无损分拣方法。该方法通过用于易碎物体抓取的软机器人夹持器（SRG）、用于物体尺寸分拣的摩擦电传感器（TES）和信号处理模块来实现。在 SRG 的制造中，通过控制材料合成过程来制备硅橡胶，其杨氏模量为 600.91 kPa，与皮肤组织的杨氏模量相当。此外，SRG 的最大输入压力为 71.4 kPa。TES 具有脉冲数与滑动位移之间的线性关系，其分辨率为 3mm。它会产生脉冲信号序列来量化 SRG 的弯曲状态，从而实现物体的尺寸分拣。此外，还开发了一种基于 TES 和 SRG 的无损分拣系统，用于水果分拣（如苹果、橙子），实现无损抓取和准确分拣。其分拣范围为 70-120mm，分拣准确率高达 95%。这项工作还为 SRG 和摩擦电传感器在分拣领域的应用提供了一种途径。
