Fabric‐Based Star Soft Robotic Gripper
Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. In contrast, fabric‐based inflatable structures offer high stiffness‐to‐weight rati...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-08-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200435 |
| _version_ | 1797739647556648960 |
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| author | Ignacio Andrade-Silva Joel Marthelot |
| author_facet | Ignacio Andrade-Silva Joel Marthelot |
| author_sort | Ignacio Andrade-Silva |
| collection | DOAJ |
| description | Soft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. In contrast, fabric‐based inflatable structures offer high stiffness‐to‐weight ratio solutions for soft robotics, but their actuation has been little explored. Herein, a new class of pneumatic soft grippers is presented that exploits the in‐plane overcurvature effect of inextensible fabric flat balloons upon inflation. A star‐shaped gripper contracts radially under pressure producing a gripping force on the object whose intensity can be modulated by the pressure input. First, the kinematics and mechanics of a single V‐shaped actuator are studied through experiments, finite element simulations, and analytical models. Then, these results are leveraged to predict the mechanical response of the entire star, optimize its geometry, and maximize contraction and stiffness. It is shown that the gripping performance can be improved by stacking several stars with silicon‐coated corners. It is expected that the flexibility, robustness, scalability, and ease of fabrication of this methodology will lead to a new generation of lighter and larger actuators capable of developing higher forces and moving delicate and irregularly shaped objects while maintaining reasonable complexity. |
| first_indexed | 2024-03-12T14:01:15Z |
| format | Article |
| id | doaj.art-daa77066b46446b797f5bf16c36b41d2 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-03-12T14:01:15Z |
| publishDate | 2023-08-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-daa77066b46446b797f5bf16c36b41d22023-08-22T05:33:15ZengWileyAdvanced Intelligent Systems2640-45672023-08-0158n/an/a10.1002/aisy.202200435Fabric‐Based Star Soft Robotic GripperIgnacio Andrade-Silva0Joel Marthelot1CNRS IUSTI Aix-Marseille Universite 13013 Marseille FranceCNRS IUSTI Aix-Marseille Universite 13013 Marseille FranceSoft pneumatic gripping strategies are often based on pressurized actuation of structures made of soft elastomeric materials, which limits designs in terms of size, weight, achievable forces, and ease of fabrication. In contrast, fabric‐based inflatable structures offer high stiffness‐to‐weight ratio solutions for soft robotics, but their actuation has been little explored. Herein, a new class of pneumatic soft grippers is presented that exploits the in‐plane overcurvature effect of inextensible fabric flat balloons upon inflation. A star‐shaped gripper contracts radially under pressure producing a gripping force on the object whose intensity can be modulated by the pressure input. First, the kinematics and mechanics of a single V‐shaped actuator are studied through experiments, finite element simulations, and analytical models. Then, these results are leveraged to predict the mechanical response of the entire star, optimize its geometry, and maximize contraction and stiffness. It is shown that the gripping performance can be improved by stacking several stars with silicon‐coated corners. It is expected that the flexibility, robustness, scalability, and ease of fabrication of this methodology will lead to a new generation of lighter and larger actuators capable of developing higher forces and moving delicate and irregularly shaped objects while maintaining reasonable complexity.https://doi.org/10.1002/aisy.202200435fabric-based actuatorsoft actuatorsoft gripper |
| spellingShingle | Ignacio Andrade-Silva Joel Marthelot Fabric‐Based Star Soft Robotic Gripper Advanced Intelligent Systems fabric-based actuator soft actuator soft gripper |
| title | Fabric‐Based Star Soft Robotic Gripper |
| title_full | Fabric‐Based Star Soft Robotic Gripper |
| title_fullStr | Fabric‐Based Star Soft Robotic Gripper |
| title_full_unstemmed | Fabric‐Based Star Soft Robotic Gripper |
| title_short | Fabric‐Based Star Soft Robotic Gripper |
| title_sort | fabric based star soft robotic gripper |
| topic | fabric-based actuator soft actuator soft gripper |
| url | https://doi.org/10.1002/aisy.202200435 |
| work_keys_str_mv | AT ignacioandradesilva fabricbasedstarsoftroboticgripper AT joelmarthelot fabricbasedstarsoftroboticgripper |