Design and analysis of a variable-stiffness robotic gripper

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 mate...

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Autores principales:	Daniel Cardin-Catalan, Simon Ceppetelli, Angel P. del Pobil, Antonio Morales
Formato:	article
Lenguaje:	EN
Publicado:	Elsevier 2022
Materias:	00-01 99-00 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/7aa7268ad7d0430daf804d90164d3caa
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id	oai:doaj.org-article:7aa7268ad7d0430daf804d90164d3caa
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spelling	oai:doaj.org-article:7aa7268ad7d0430daf804d90164d3caa2021-11-18T04:45:18ZDesign and analysis of a variable-stiffness robotic gripper1110-016810.1016/j.aej.2021.06.045https://doaj.org/article/7aa7268ad7d0430daf804d90164d3caa2022-02-01T00:00:00Zhttp://www.sciencedirect.com/science/article/pii/S1110016821004075https://doaj.org/toc/1110-0168This 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.Daniel Cardin-CatalanSimon CeppetelliAngel P. del PobilAntonio MoralesElsevierarticle00-0199-00Engineering (General). Civil engineering (General)TA1-2040ENAlexandria Engineering Journal, Vol 61, Iss 2, Pp 1235-1248 (2022)
institution	DOAJ
collection	DOAJ
language	EN
topic	00-01 99-00 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	00-01 99-00 Engineering (General). Civil engineering (General) TA1-2040 Daniel Cardin-Catalan Simon Ceppetelli Angel P. del Pobil Antonio Morales Design and analysis of a variable-stiffness robotic gripper
description	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.
format	article
author	Daniel Cardin-Catalan Simon Ceppetelli Angel P. del Pobil Antonio Morales
author_facet	Daniel Cardin-Catalan Simon Ceppetelli Angel P. del Pobil Antonio Morales
author_sort	Daniel Cardin-Catalan
title	Design and analysis of a variable-stiffness robotic gripper
title_short	Design and analysis of a variable-stiffness robotic gripper
title_full	Design and analysis of a variable-stiffness robotic gripper
title_fullStr	Design and analysis of a variable-stiffness robotic gripper
title_full_unstemmed	Design and analysis of a variable-stiffness robotic gripper
title_sort	design and analysis of a variable-stiffness robotic gripper
publisher	Elsevier
publishDate	2022
url	https://doaj.org/article/7aa7268ad7d0430daf804d90164d3caa
work_keys_str_mv	AT danielcardincatalan designandanalysisofavariablestiffnessroboticgripper AT simonceppetelli designandanalysisofavariablestiffnessroboticgripper AT angelpdelpobil designandanalysisofavariablestiffnessroboticgripper AT antoniomorales designandanalysisofavariablestiffnessroboticgripper
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Design and analysis of a variable-stiffness robotic gripper

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