Enhancing the Performance of Pneu-net Actuators Using a Torsion Resistant Strain Limiting Layer
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arXiv
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| Format: | Preprint |
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2023
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| _version_ | 1866909082569408512 |
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| author | Good, Ian Sullivan Balaji, Srivatsan Lipton, Jeffrey Ian |
| author_facet | Good, Ian Sullivan Balaji, Srivatsan Lipton, Jeffrey Ian |
| contents | Pneunets are the primary form of soft robotic grippers. A key limitation to their wider adoption is their inability to grasp larger payloads due to objects slipping out of grasps. We have overcome this limitation by introducing a torsionally rigid strain limiting layer (TRL). This reduces out-of-plane bending while maintaining the gripper's softness and in-plane flexibility. We characterize the design space of the strain limiting layer for a Pneu-net gripper using simulation and experiment and map bending angle and relative grip strength. We found that the use of our TRL reduced out-of-plane bending by up to 97.7% in testing compared to a benchmark Pneu-net gripper from the Soft Robotics Toolkit. We demonstrate a lifting capacity of 5kg when loading using the TRL. We also see a relative improvement in peak grip force of 3N and stiffness of 1200N/m compared to 1N and 150N/m for a Pneu-net gripper without our TRL at equal pressures. Finally, we test the TRL gripper on a suite of six YCB objects above the demonstrated capability of a traditional Pneu-net gripper. We show success on all but one demonstrating significant increased capabilities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2311_02454 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Enhancing the Performance of Pneu-net Actuators Using a Torsion Resistant Strain Limiting Layer Good, Ian Sullivan Balaji, Srivatsan Lipton, Jeffrey Ian Robotics Pneunets are the primary form of soft robotic grippers. A key limitation to their wider adoption is their inability to grasp larger payloads due to objects slipping out of grasps. We have overcome this limitation by introducing a torsionally rigid strain limiting layer (TRL). This reduces out-of-plane bending while maintaining the gripper's softness and in-plane flexibility. We characterize the design space of the strain limiting layer for a Pneu-net gripper using simulation and experiment and map bending angle and relative grip strength. We found that the use of our TRL reduced out-of-plane bending by up to 97.7% in testing compared to a benchmark Pneu-net gripper from the Soft Robotics Toolkit. We demonstrate a lifting capacity of 5kg when loading using the TRL. We also see a relative improvement in peak grip force of 3N and stiffness of 1200N/m compared to 1N and 150N/m for a Pneu-net gripper without our TRL at equal pressures. Finally, we test the TRL gripper on a suite of six YCB objects above the demonstrated capability of a traditional Pneu-net gripper. We show success on all but one demonstrating significant increased capabilities. |
| title | Enhancing the Performance of Pneu-net Actuators Using a Torsion Resistant Strain Limiting Layer |
| topic | Robotics |
| url | https://arxiv.org/abs/2311.02454 |