التفاصيل البيبلوغرافية
| العنوان: |
PneuNet Based Hybrid Soft Gripper for Multi-Shape Object Handling |
| المؤلفون: |
Chanuka L. Tennakoon, Asitha L. Kulasekera, R. A. R. C. Gopura, Damith S. Chathuranga |
| المصدر: |
IEEE Access, Vol 12, Pp 190158-190168 (2024) |
| بيانات النشر: |
IEEE, 2024. |
| سنة النشر: |
2024 |
| المجموعة: |
LCC:Electrical engineering. Electronics. Nuclear engineering |
| مصطلحات موضوعية: |
Layer jamming actuator, PneuNet actuator, soft robotic gripper, Electrical engineering. Electronics. Nuclear engineering, TK1-9971 |
| الوصف: |
Soft robotic grippers are emerging as a promising solution for handling complex objects, offering enhanced flexibility in handling various tasks with a single gripper. This study presents a novel soft gripper which uses PneuNet based hybrid actuation to improve the grasping success in scenarios involving multi-shape object handling. The proposed actuator integrates a layer jamming element (LJE) to replace the non-extensible layer in a standard PneuNet actuator, simultaneously acting as a locking mechanism capable of maintaining the bending angle without the support from PneuNet. Evaluation of the LJE’s impact revealed that the use of a single LJE increased grasping force by up to 20%, while employing multiple LJEs showed no significant improvement. The success rates of three grasping modes, flat/parallel, spherical, and cylindrical were assessed using the proposed reconfigurable gripper. Experiments showed success rates of 62%, 68%, and 56% for grasping, and 54%, 53%, and 53% for jamming hold, respectively. By selecting an ideal grasping mode for each object, average success rates increased to 90% in grasping and 84% in jamming hold. The proposed vision-based grasping mode identification method selected the optimal mode based on object size and shape, leading to improved success rates of 96% in grasping and 86% in jamming hold. |
| نوع الوثيقة: |
article |
| وصف الملف: |
electronic resource |
| اللغة: |
English |
| تدمد: |
2169-3536 |
| Relation: |
https://ieeexplore.ieee.org/document/10792893/; https://doaj.org/toc/2169-3536 |
| DOI: |
10.1109/ACCESS.2024.3515265 |
| URL الوصول: |
https://doaj.org/article/3c27b110c447450486a26ef959f88a84 |
| رقم الانضمام: |
edsdoj.3c27b110c447450486a26ef959f88a84 |
| قاعدة البيانات: |
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