로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제19권3호
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  • Pages.274-280
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  • 2024
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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파지와 흡착이 가능한 가변 스트로크 공압 소프트 그리퍼

Pneumatic Grasp-and-Suction Soft Gripper with Variable Stroke

  • 투고 : 2024.04.18
  • 심사 : 2024.07.17
  • 발행 : 2024.08.30
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초록

With the recent emergence of collaborative robots, demand for grippers to be used in service sites is increasing. Soft grippers have advantages in terms of compliance, cost, weight, and stability, but it is difficult to handle objects of various shapes, sizes, and weights with a single gripper. In this study, based on a fluidic elastomer actuator (FEA), we propose a pneumatic soft gripper that can grip a variety of objects, consisting of fingers capable of both grasping and vacuum suction and a base with variable stroke between the fingers using a pneumatic cylinder. A check valve is installed inside the finger, so that when positive pressure is supplied, the finger expands to perform adaptive grasping, and when negative pressure is supplied, vacuum suction can be performed. Grasping experiments were conducted on various objects to evaluate the performance of the proposed gripper, and 94% of 54 gripping objects were successfully grasped.

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과제정보

This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20015198).

참고문헌

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