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A robust compliant grasper via shape deposition manufacturing
Abstract
Joint compliance can enable successful robot grasping despite uncertainties in target object location. Compliance also enhances manipulator robustness by minimizing contact forces in the event of unintended contacts or impacts. In this paper, we describe the design, fabrication, and evaluation of a novel compliant robotic grasper constructed using polymer-based shape deposition manufacturing. Joints are formed by elastomeric flexures, and actuator and sensor components are embedded in tough rigid polymers. The result is a robot gripper with the functionality of conventional metal prototypes for grasping in unstructured environments but with robustness properties that allow for large forces due to inadvertent contact.
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Cited by
Soft Robotic Grippers for Biological Sampling on Deep Reefs
Galloway, K. C., Becker, K. P., Phillips, B., Kirby, J., Licht, S., Tchernov, D., Wood, R. J., & Gruber, D. F. (2016) · Soft Robotics · doi:10.1089/soro.2015.0019 · Cited by 848
A compliant, underactuated hand for robust manipulation
Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D., & Dollar, A. M. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913514466 · Cited by 598
Self-citationVaezi, M., Chianrabutra, S., Mellor, B., & Yang, S. (2013) · Virtual and Physical Prototyping · doi:10.1080/17452759.2013.778175 · Cited by 548
Zhang, B., Xie, Y., Zhou, J., Wang, K., & Zhang, Z. (2020) · Computers and Electronics in Agriculture · doi:10.1016/j.compag.2020.105694 · Cited by 484
Hegde, C., Su, J., Tan, J. M. R., He, K., Chen, X., & Magdassi, S. (2023) · ACS Nano · doi:10.1021/acsnano.3c04089 · Cited by 384
Metadata
- Authors
- Dollar, A. M., & Howe, R. D.
- Venue
- IEEE/ASME Transactions on Mechatronics
- Published
- 2006-04
- Volume
- 11
- Issue
- 2
- Pages
- 154-161
- ISSN
- 1083-4435 (ISSN-L)
- OpenAlex
- W2144113061
- Cited by
- 233
- References
- 0
- FWCI
- 5.61
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
