A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism
Human finger excels at delicate and dynamic gripping tasks via coordinating soft tissues and rigid components, which is yet considerably challenging for robotic grippers. Herein, inspired by the human finger, a soft‐rigid structured gripper composed of three variable‐stiffness fingers with the antag...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-03-01
|
| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200304 |
| _version_ | 1797860228746706944 |
|---|---|
| author | Tianhong Wang Tao Jin Quan Zhang Long Li Guopeng Wang Yingzhong Tian Sicheng Yi Yangqiao Lin |
| author_facet | Tianhong Wang Tao Jin Quan Zhang Long Li Guopeng Wang Yingzhong Tian Sicheng Yi Yangqiao Lin |
| author_sort | Tianhong Wang |
| collection | DOAJ |
| description | Human finger excels at delicate and dynamic gripping tasks via coordinating soft tissues and rigid components, which is yet considerably challenging for robotic grippers. Herein, inspired by the human finger, a soft‐rigid structured gripper composed of three variable‐stiffness fingers with the antagonistic mechanism is proposed. Each finger can change its joint stiffness by selectively applying pretension to the springs so that it can exhibit different stiffness gradients to conform to the surfaces. Theoretical models are established to evaluate both the deformation and stiffness properties, and several experiments verify that it can increase the stiffness to 6.4 times after aggravating the antagonistic effect. Based on the variable stiffness, the finger performs sequential motion to conform to different curvatures, resulting in a larger contact area. Moreover, by stiffening joints, the proposed gripper can improve its grasping performance with a large grasping force while providing gentle contact. Furthermore, the gripper presents the capability of handling various objects with the optimal posture and gently grasping fragile objects like the paper ring and plasticine cylinder. Whereas this gripper can coordinate the relationship between high compliance and variable stiffness, the exploration of the gripper provides shed light on robotic design and practical application. |
| first_indexed | 2024-04-09T21:43:37Z |
| format | Article |
| id | doaj.art-9235f5bd29ad4835a07995cb10b67cdf |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-04-09T21:43:37Z |
| publishDate | 2023-03-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-9235f5bd29ad4835a07995cb10b67cdf2023-03-25T19:40:27ZengWileyAdvanced Intelligent Systems2640-45672023-03-0153n/an/a10.1002/aisy.202200304A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic MechanismTianhong Wang0Tao Jin1Quan Zhang2Long Li3Guopeng Wang4Yingzhong Tian5Sicheng Yi6Yangqiao Lin7Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 ChinaShanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai Aerospace Control Technology Institute Shanghai 200444 ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 ChinaShanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 ChinaHuman finger excels at delicate and dynamic gripping tasks via coordinating soft tissues and rigid components, which is yet considerably challenging for robotic grippers. Herein, inspired by the human finger, a soft‐rigid structured gripper composed of three variable‐stiffness fingers with the antagonistic mechanism is proposed. Each finger can change its joint stiffness by selectively applying pretension to the springs so that it can exhibit different stiffness gradients to conform to the surfaces. Theoretical models are established to evaluate both the deformation and stiffness properties, and several experiments verify that it can increase the stiffness to 6.4 times after aggravating the antagonistic effect. Based on the variable stiffness, the finger performs sequential motion to conform to different curvatures, resulting in a larger contact area. Moreover, by stiffening joints, the proposed gripper can improve its grasping performance with a large grasping force while providing gentle contact. Furthermore, the gripper presents the capability of handling various objects with the optimal posture and gently grasping fragile objects like the paper ring and plasticine cylinder. Whereas this gripper can coordinate the relationship between high compliance and variable stiffness, the exploration of the gripper provides shed light on robotic design and practical application.https://doi.org/10.1002/aisy.202200304antagonistic mechanismrobotic grippersequential motionsoft roboticsvariable stiffness |
| spellingShingle | Tianhong Wang Tao Jin Quan Zhang Long Li Guopeng Wang Yingzhong Tian Sicheng Yi Yangqiao Lin A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism Advanced Intelligent Systems antagonistic mechanism robotic gripper sequential motion soft robotics variable stiffness |
| title | A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism |
| title_full | A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism |
| title_fullStr | A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism |
| title_full_unstemmed | A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism |
| title_short | A Bioinspired Gripper with Sequential Motion and Mutable Posture Enabled by Antagonistic Mechanism |
| title_sort | bioinspired gripper with sequential motion and mutable posture enabled by antagonistic mechanism |
| topic | antagonistic mechanism robotic gripper sequential motion soft robotics variable stiffness |
| url | https://doi.org/10.1002/aisy.202200304 |
| work_keys_str_mv | AT tianhongwang abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT taojin abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT quanzhang abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT longli abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT guopengwang abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT yingzhongtian abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT sichengyi abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT yangqiaolin abioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT tianhongwang bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT taojin bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT quanzhang bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT longli bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT guopengwang bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT yingzhongtian bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT sichengyi bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism AT yangqiaolin bioinspiredgripperwithsequentialmotionandmutablepostureenabledbyantagonisticmechanism |