折り紙構造で力制御を可能にしたソフトグリッパ
Origami-Inspired Soft Gripper with Tunable Constant Force Output
折り紙に着想を得た構造で、広いひずみ範囲で調整可能な一定の把持力を実現するソフトグリッパを提案し、シミュレーションと実験で有効性を示した。
著者: Zhenwei Ni, Chang Xu, Zhihang Qin, Ceng Zhang, Zhiqiang Tang, Peiyi Wang, Cecilia Laschi
分類: cs.RO
原文アブストラクト
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications that require stable grasping force. In this work, we propose a soft gripper that utilizes an origami-inspired structure to achieve tunable constant force output over a wide strain range. The geometry of each taper panel is established to provide necessary parameters such as protrusion distance, taper angle, and crease thickness required for 3D modeling and FEA analysis. Simulations and experiments show that by optimizing these parameters, our design can achieve a tunable constant force output. Moreover, the origami-inspired soft gripper dynamically adapts to different shapes while preventing excessive forces, with potential applications in logistics, manufacturing, and other industrial settings that require stable and adaptive operations
