Cited 7 time in webofscience Cited 7 time in scopus

Soft robotic gripper with chambered fingers for performing in-hand manipulation

Title
Soft robotic gripper with chambered fingers for performing in-hand manipulation
Authors
Batsuren, KhulanYun, Dongwon
DGIST Authors
Batsuren, Khulan; Yun, Dongwon
Issue Date
2019-08
Citation
Applied Sciences, 9(15)
Type
Article
Article Type
Article
Author Keywords
pneumatic actuatorsoft robotics gripperFEM
Keywords
ACTUATORS
ISSN
2076-3417
Abstract
In this work, we present a soft robotic gripper for grasping various objects by mimicking in-hand manipulation. The soft robotic gripper consists of three fingers. Each finger contains three air chambers: Two chambers (side chambers) for twisting in two different directions and one chamber (middle chamber) for grasping. The combination of these air chambers makes it possible to grasp an object and rotate it. We fabricated the soft finger using 3D-printed molds. We used the finite element method (FEM) method to design the most effective model, and later these results were compared with results from experiments. The combined experimental results were used to control the range of movement of the whole gripper. The gripper could grasp objects weighing from 4 g to 300 g just by inflating the middle chamber, and when air pressure was subsequently applied to one of the side chambers, the gripper could twist the object by 35°. © 2019 by the authors.
URI
http://hdl.handle.net/20.500.11750/10642
DOI
10.3390/app9152967
Publisher
MDPI AG
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
Collection:
Department of Robotics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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