Soft-stable interface in grasping multiple objects by wiring-tension

Efficiently manipulating objects in a group state poses an emerging challenge for soft robot hands. Overcoming this problem necessitates the development of hands with highly stable structures to bear heavy loads and highly compliant designs to universally adapt to various object geometries. This stu...

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Main Authors: Nguyen, Pho Van, Sunil, Dhyan Bohra, Chow, Tuck Wai
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2024
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Online Access:https://hdl.handle.net/10356/173028
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1730282024-01-13T16:48:12Z Soft-stable interface in grasping multiple objects by wiring-tension Nguyen, Pho Van Sunil, Dhyan Bohra Chow, Tuck Wai School of Mechanical and Aerospace Engineering Schaeffler Hub for Advanced Research Center (SHARE@NTU) Engineering::Mechanical engineering Biomechanics Kinematics Efficiently manipulating objects in a group state poses an emerging challenge for soft robot hands. Overcoming this problem necessitates the development of hands with highly stable structures to bear heavy loads and highly compliant designs to universally adapt to various object geometries. This study introduces a novel platform for the development of robot hands aimed at manipulating multiple objects in each trial. In this setup, the objects come into soft contact with an elastic wire affixed to the finger skeletons. This combination results in a harmonious hybrid finger, inheriting both the soft, flexible properties of the wire and the robust stability provided by the finger skeleton. To facilitate this approach, a theoretical model was proposed to estimate the kinematics of manipulating multiple objects using wiring-based fingers. Based on this model, we designed a hybrid gripper comprising two wiring-based fingers for conducting experimental evaluations in manipulating four groups of samples: a pair of bevel gears, a pair of bevel gears plus a pneumatic connector, a pair of glue bottles, and a pair of silicon bottles. The experimental results demonstrated that our proposed gripper reached good performance with high success rates in durability tests conducted at various lifting velocities and high adaption with objects in soft-friendly ways. These findings hold promise for efficiently manipulating multiple complex objects in each trial without the need for complex control systems. Agency for Science, Technology and Research (A*STAR) Published version This work is partly supported by the Schaefer Hub for Advanced Research at NTU, under the ASTAR IAF-ICP Programme ICP1900093. 2024-01-09T08:19:53Z 2024-01-09T08:19:53Z 2023 Journal Article Nguyen, P. V., Sunil, D. B. & Chow, T. W. (2023). Soft-stable interface in grasping multiple objects by wiring-tension. Scientific Reports, 13(1), 21537-. https://dx.doi.org/10.1038/s41598-023-47545-3 2045-2322 https://hdl.handle.net/10356/173028 10.1038/s41598-023-47545-3 38057334 2-s2.0-85178962321 1 13 21537 en ICP1900093 Scientific Reports © 2023 The Author(s). Open Access. This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://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
Biomechanics
Kinematics
spellingShingle Engineering::Mechanical engineering
Biomechanics
Kinematics
Nguyen, Pho Van
Sunil, Dhyan Bohra
Chow, Tuck Wai
Soft-stable interface in grasping multiple objects by wiring-tension
description Efficiently manipulating objects in a group state poses an emerging challenge for soft robot hands. Overcoming this problem necessitates the development of hands with highly stable structures to bear heavy loads and highly compliant designs to universally adapt to various object geometries. This study introduces a novel platform for the development of robot hands aimed at manipulating multiple objects in each trial. In this setup, the objects come into soft contact with an elastic wire affixed to the finger skeletons. This combination results in a harmonious hybrid finger, inheriting both the soft, flexible properties of the wire and the robust stability provided by the finger skeleton. To facilitate this approach, a theoretical model was proposed to estimate the kinematics of manipulating multiple objects using wiring-based fingers. Based on this model, we designed a hybrid gripper comprising two wiring-based fingers for conducting experimental evaluations in manipulating four groups of samples: a pair of bevel gears, a pair of bevel gears plus a pneumatic connector, a pair of glue bottles, and a pair of silicon bottles. The experimental results demonstrated that our proposed gripper reached good performance with high success rates in durability tests conducted at various lifting velocities and high adaption with objects in soft-friendly ways. These findings hold promise for efficiently manipulating multiple complex objects in each trial without the need for complex control systems.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Nguyen, Pho Van
Sunil, Dhyan Bohra
Chow, Tuck Wai
format Article
author Nguyen, Pho Van
Sunil, Dhyan Bohra
Chow, Tuck Wai
author_sort Nguyen, Pho Van
title Soft-stable interface in grasping multiple objects by wiring-tension
title_short Soft-stable interface in grasping multiple objects by wiring-tension
title_full Soft-stable interface in grasping multiple objects by wiring-tension
title_fullStr Soft-stable interface in grasping multiple objects by wiring-tension
title_full_unstemmed Soft-stable interface in grasping multiple objects by wiring-tension
title_sort soft-stable interface in grasping multiple objects by wiring-tension
publishDate 2024
url https://hdl.handle.net/10356/173028
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