2021 IEEE International Conference on Robotics and Biomimetics (ROBIO) Robotics and Biomimetics (ROBIO), 2021 IEEE International Conference on. :973-977 Dec, 2021
Subject
Bioengineering Communication, Networking and Broadcast Technologies Components, Circuits, Devices and Systems Robotics and Control Systems Signal Processing and Analysis Sea surface Shape Grasping Flanges Surface fitting Rubber Grippers bionics soft robot pneumatic drive
The marine products are rich, nurturing many creatures on the earth and providing precious research objects for human scientific exploration. The surface of some marine animals is fragile and easily damaged. Animals such as sea cucumbers may even deform when they are grasped by external forces, making it extremely difficult to grasp. In this regard, this paper proposes a bionic soft gripper and details the design and modeling methods. The bionic claw adopts a three-finger structure. The finger design adopts a bionic shape with a deformation layer and a limiting layer. It is molded with soft silicone material. The maximum bending displacement of a single soft finger can reach 55 mm. The soft hand is lighter in weight and smaller in driving force. The control system is more portable than rigid claws. A simple push rod can be used to increase/decrease pressure to achieve positive and negative pressure driving. The gripping action of the gripper can be realized by driving water or air, and by adjusting the fixed position of the claw on the flange, the target objects of different sizes can be dealt with. The applicable objects are diverse and the application scenarios are wide.