Modeling of grasping force for a soft robotic gripper with variable stiffness

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	Modeling of grasping force for a soft robotic gripper with variable stiffness
	Kong Cheng; Yin Haibin; Li Junfeng; Yang Guilin
刊名	MECHANISM AND MACHINE THEORY
	2018
卷号	128 页码:254-274
关键词	Shape-memory Alloy Minimally Invasive Surgery Design Actuator Capability Driven Finger Fibers Wire
英文摘要	The purpose of this research is to present a grasping force model for a soft robotic gripper with variable stiffness. The soft robotic gripper was made of shape memory alloys (SMAs) with contraction and variable stiffness properties. A variable stiffness mechanism with embedded sets of SMA fibers was developed; however, the response characteristics of its backbone did not comply with the constant-curvature model when it was subjected to complex forces/torques, such as gravity, grasping forces and driving torques. In this case, the Cosserat theory was used to implement real-time computations of the grasping force of the soft robotic gripper that was subjected to complex forces. Finally, a series of tests were conducted on the grasping force of the soft finger and the gripper. The elicited results showed that the grasping force is related to the stiffness and to the object's offset and friction coefficient. Moreover, experimental results showed that the grasping force of the soft robotic gripper increased by 48.7% when the Young's modulus of the SMA-2 wires increased from 25 GPa to 48 GPa. (C) 2018 Elsevier Ltd. All rights reserved.
学科主题	Materials Science ; Physics
语种	英语
公开日期	2018-12-04
内容类型	期刊论文
源URL	[http://ir.nimte.ac.cn/handle/174433/17140]
专题	2018专题
推荐引用方式 GB/T 7714	Kong Cheng,Yin Haibin,Li Junfeng,et al. Modeling of grasping force for a soft robotic gripper with variable stiffness[J]. MECHANISM AND MACHINE THEORY,2018,128:254-274.
APA	Kong Cheng,Yin Haibin,Li Junfeng,&Yang Guilin.(2018).Modeling of grasping force for a soft robotic gripper with variable stiffness.MECHANISM AND MACHINE THEORY,128,254-274.
MLA	Kong Cheng,et al."Modeling of grasping force for a soft robotic gripper with variable stiffness".MECHANISM AND MACHINE THEORY 128(2018):254-274.