Design and analysis of a variable-stiffness robotic gripper
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Otros documentos de la autoría: Cardin-Catalan, Daniel; Ceppetelli, Simon; del Pobil, Angel P.; Morales, Antonio
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INVESTIGACIONMetadatos
Título
Design and analysis of a variable-stiffness robotic gripperFecha de publicación
2021Editor
ElsevierISSN
1110-0168Cita bibliográfica
D. Cardin-Catalan, S. Ceppetelli, Angel P. del Pobil, A. Morales, Design and analysis of a variable-stiffness robotic gripper, Alexandria Eng. J. (2021), https://doi.org/10.1016/j.aej.2021.06.045Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
https://www.sciencedirect.com/science/article/pii/S1110016821004075Versión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
This paper presents the design and analysis of a novel variable-stiffness robotic gripper, the RobInLab VS gripper. The purpose is to have a gripper that is strong and reliable as rigid grippers but adaptable as soft ... [+]
This paper presents the design and analysis of a novel variable-stiffness robotic gripper, the RobInLab VS gripper. The purpose is to have a gripper that is strong and reliable as rigid grippers but adaptable as soft grippers. This is achieved by designing modular fingers that combine a jamming material core with an external structure, made with rigid and flexible materials. This allows the finger to softly adapt to object shapes when the capsule is not active, but becomes rigid when air suction is applied. A three-finger gripper prototype was built using this approach. Its validity and performance are evaluated using five experimental benchmark tests implemented exclusively to measure variable-stiffness grippers. To complete the analysis, our gripper is compared with an alternative gripper built by following a relevant state-of-the-art design. Our results suggest that our solution significantly outperforms previous approaches using similar variable stiffness designs, with a significantly higher grasping force, combining a good shape adaptability with a simpler and more robust design. [-]
Publicado en
Alexandria Engineering Journal, 2021Entidad financiadora
Ministerio de Ciencia e Innnovación | Universitat Jaume I | Generalitat Valenciana
Código del proyecto o subvención
DPI2015-69041-R | DPI2017-89910-R | UJI-B2018-74 | PROMETEO/2020/03
Derechos de acceso
info:eu-repo/semantics/openAccess
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- ICC_Articles [419]