Universally grasping objects with granular-tendon finger: principle and design

Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft struc...

Full description

Saved in:
Bibliographic Details
Main Authors: Nguyen, Van Pho, Dhyan, Sunil Bohra, Han, Boon Siew, Chow, Wai Tuck
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2023
Subjects:
Online Access:https://hdl.handle.net/10356/171401
Tags: Add Tag
No Tags, Be the first to tag this record!
Institution: Nanyang Technological University
Language: English
id sg-ntu-dr.10356-171401
record_format dspace
spelling sg-ntu-dr.10356-1714012023-10-28T16:48:03Z Universally grasping objects with granular-tendon finger: principle and design Nguyen, Van Pho Dhyan, Sunil Bohra Han, Boon Siew Chow, Wai Tuck School of Mechanical and Aerospace Engineering Schaeffler Hub for Advanced REsearch (SHARE) Lab Engineering::Mechanical engineering Universal Grasp Soft Gripper Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics. Agency for Science, Technology and Research (A*STAR) Published version This research is supported by the Agency for Science, Technology and Research (A*STAR) under its IAF-ICP Programme I2001E0067 and the Schaeffler Hub for Advanced Research at NTU. Nguyen was fully supported by Japan Society for Promotion of Science (JSPS PD program) and JSPS Kakenhi Grants No. 20J14910. 2023-10-24T02:48:55Z 2023-10-24T02:48:55Z 2023 Journal Article Nguyen, V. P., Dhyan, S. B., Han, B. S. & Chow, W. T. (2023). Universally grasping objects with granular-tendon finger: principle and design. Micromachines, 14(7), 1471-. https://dx.doi.org/10.3390/mi14071471 2072-666X https://hdl.handle.net/10356/171401 10.3390/mi14071471 37512781 2-s2.0-85166269003 7 14 1471 en I2001E0067 Micromachines © 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Mechanical engineering
Universal Grasp
Soft Gripper
spellingShingle Engineering::Mechanical engineering
Universal Grasp
Soft Gripper
Nguyen, Van Pho
Dhyan, Sunil Bohra
Han, Boon Siew
Chow, Wai Tuck
Universally grasping objects with granular-tendon finger: principle and design
description Nowadays, achieving the stable grasping of objects in robotics requires an increased emphasis on soft interactions. This research introduces a novel gripper design to achieve a more universal object grasping. The key feature of this gripper design was a hybrid mechanism that leveraged the soft structure provided by multiple granular pouches attached to the finger skeletons. To evaluate the performance of the gripper, a series of experiments were conducted using fifteen distinct types of objects, including cylinders, U-shaped brackets, M3 bolts, tape, pyramids, big pyramids, oranges, cakes, coffee sachets, spheres, drink sachets, shelves, pulley gears, aluminium profiles, and flat brackets. Our experimental results demonstrated that our gripper design achieved high success rates in gripping objects weighing less than 210 g. One notable advantage of the granular-tendon gripper was its ability to generate soft interactions during the grasping process while having a skeleton support to provide strength. This characteristic enabled the gripper to adapt effectively to various objects, regardless of their shape and material properties. Consequently, this work presented a promising solution for manipulating a wide range of objects with both stability and soft interaction capabilities, regardless of their individual characteristics.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Nguyen, Van Pho
Dhyan, Sunil Bohra
Han, Boon Siew
Chow, Wai Tuck
format Article
author Nguyen, Van Pho
Dhyan, Sunil Bohra
Han, Boon Siew
Chow, Wai Tuck
author_sort Nguyen, Van Pho
title Universally grasping objects with granular-tendon finger: principle and design
title_short Universally grasping objects with granular-tendon finger: principle and design
title_full Universally grasping objects with granular-tendon finger: principle and design
title_fullStr Universally grasping objects with granular-tendon finger: principle and design
title_full_unstemmed Universally grasping objects with granular-tendon finger: principle and design
title_sort universally grasping objects with granular-tendon finger: principle and design
publishDate 2023
url https://hdl.handle.net/10356/171401
_version_ 1781793855941640192