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http://dx.doi.org/10.5762/KAIS.2018.19.12.47

Development of Variable Stiffness Soft Robot Hand for Improving Gripping Performance  

Ham, KiBeom (School of Mechanical Engineering, SunMoon University)
Jeon, JongKyun (School of Mechanical Engineering, SunMoon University)
Park, Yong-Jai (Department of Mechatronics Engineering, Kangwon National University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.19, no.12, 2018 , pp. 47-53 More about this Journal
Abstract
Various types of robotic arms are being used for industrial purposes, particularly with the small production of multi-products, and the importance of the gripper, which can be used in industrial fields, is increasing. This study evaluated a variable stiffness mechanism gripper that can change the stiffness using the nonlinearity of a flexible material. A prototype of the gripper was fabricated and examined to confirm the change in stiffness. The previous gripper was unable to grip objects in some situations with three variable stiffness mechanism. In addition, these mechanisms were not balanced and rarely rotated when the object was gripped. Therefore, a new type of gripper was needed to solve this problem. Inspired by the movements of the human palm and Venus Flytrap, a new type of a variable stiffness soft robot hand was designed. The possibility of grasping could be increased by interlocking the palm folding mechanism by pulling the tendon attached to the variable stiffness mechanism. The soft robotic hand was used to grasp objects of various shapes and weights more stably than the previous variable stiffness mechanism gripper. This new variable stiffness soft robot hand can be used selectively depending on the application and environment to be used.
Keywords
Soft Robot; Gripper; Variable Stiffness; Adjustable Mechanism; Bio-inspired Mechanism;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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