2018 Fiscal Year Annual Research Report
3D printed elastomer gripper with integrated multifunctional wireless sensors
| Project/Area Number |
17H07255
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
Zhu Mingzhu 立命館大学, 立命館グローバル・イノベーション研究機構, 研究員 (50806180)
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| Project Period (FY) |
2017-08-25 – 2019-03-31
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| Keywords | Soft gripper / Robust grasping / 3D printing / Variable stiffness |
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| Outline of Annual Research Achievements |
Research Objectives: To develop a multi-material 3D printed variable stiffness soft robotic gripper to ensure grasping robustness during high acceleration.
Research Contents: The proposed gripper contains two identical soft fingers, with each finger including a pneumatic actuator and an integrated layer jamming unit. Prototypes of the soft finger, with material hardness transfer from the soft-bodied actuator to the hard pneumatic tubing and layer jamming unit, are fully fabricated by one-step 3D printing. The printed soft finger has a complex inner geometry which integrates a small, light and flexible layer jamming unit. The proposed finger can freely deform at low stiffness and maintain its grasping robustness at high stiffness during high acceleration. To demonstrate the effectiveness of the proposed design, the gripper is mounted on a robotic arm to evaluate its grasping robustness. With the aid of the integrated layer jamming unit, grasping robustness can be guaranteed when the robotic arm is moving at acceleration up to 8 m/s2. The results show that the proposed soft gripper is an effective design which can guarantee grasping robustness during high acceleration.
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| Research Progress Status |
平成30年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
平成30年度が最終年度であるため、記入しない。
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