Torsion Resistant Strain Limiting Layers Enable High Grip Strength of Electrically-Driven Handed Shearing Auxetic Grippers
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866913607478935552 |
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| author | Good, Ian Balaji, Srivatsan Lipton, Jeffrey I. |
| author_facet | Good, Ian Balaji, Srivatsan Lipton, Jeffrey I. |
| contents | Soft grippers have demonstrated a strong ability to successfully pick and manipulate many objects. 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 (TR-SLL). 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 and Handed Shearing Auxetic (HSA) actuators for a soft gripper using simulation and experiment. The inclusion of the TR-SLL with HSAs enables HSA grippers to be made with a single digit. We found that the use of our TR-SLL HSA gripper enabled pinch grasping of payloads over 1 kg. We demonstrate a lifting capacity of 5 kg when loading using the TR-SLL. We also demonstrate a peak pinch grasp force of 5.8 N, and a peak planar caging force of 14.5 N. Finally, we test the TR-SLL gripper on a suite of 43 YCB objects. We show success on 37 objects demonstrating significant capabilities. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_07976 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Torsion Resistant Strain Limiting Layers Enable High Grip Strength of Electrically-Driven Handed Shearing Auxetic Grippers Good, Ian Balaji, Srivatsan Lipton, Jeffrey I. Robotics Soft grippers have demonstrated a strong ability to successfully pick and manipulate many objects. 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 (TR-SLL). 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 and Handed Shearing Auxetic (HSA) actuators for a soft gripper using simulation and experiment. The inclusion of the TR-SLL with HSAs enables HSA grippers to be made with a single digit. We found that the use of our TR-SLL HSA gripper enabled pinch grasping of payloads over 1 kg. We demonstrate a lifting capacity of 5 kg when loading using the TR-SLL. We also demonstrate a peak pinch grasp force of 5.8 N, and a peak planar caging force of 14.5 N. Finally, we test the TR-SLL gripper on a suite of 43 YCB objects. We show success on 37 objects demonstrating significant capabilities. |
| title | Torsion Resistant Strain Limiting Layers Enable High Grip Strength of Electrically-Driven Handed Shearing Auxetic Grippers |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.07976 |