ねじり耐性ひずみ制限層による電動ハンド型せん断オーセティックグリッパの高把持力化
Torsion Resistant Strain Limiting Layers Enable High Grip Strength of Electrically-Driven Handed Shearing Auxetic Grippers
柔らかさを保ちつつ面外曲げを抑えるねじり剛性ひずみ制限層を導入し、電動せん断オーセティックグリッパで1kg超のつまみ把持や5kgの持ち上げを実現した。
著者: Ian Good, Srivatsan Balaji, Jeffrey I. Lipton
分類: cs.RO
原文アブストラクト
Soft grippers have demonstrated a strong ability to successfully pick and manipulate many objects. A key limitation to their wider adoption is their inability to grasp larger payloads due to objects slipping out of grasps. We have overcome this limitation by introducing a torsionally rigid strain limiting layer (TR-SLL). This reduces out-of-plane bending while maintaining the gripper's softness and in-plane flexibility. We characterize the design space of the strain limiting layer and Handed Shearing Auxetic (HSA) actuators for a soft gripper using simulation and experiment. The inclusion of the TR-SLL with HSAs enables HSA grippers to be made with a single digit. We found that the use of our TR-SLL HSA gripper enabled pinch grasping of payloads over 1 kg. We demonstrate a lifting capacity of 5 kg when loading using the TR-SLL. We also demonstrate a peak pinch grasp force of 5.8 N, and a peak planar caging force of 14.5 N. Finally, we test the TR-SLL gripper on a suite of 43 YCB objects. We show success on 37 objects demonstrating significant capabilities.
