Soft Polymer-Actuated Compliant Microgripper with Adaptive Vibration-Controlled Grasp and Release.

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-04-01 DOI:10.1089/soro.2023.0027
Jung-Hwan Youn, Je-Sung Koh, Ki-Uk Kyung
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Abstract

Microgrippers that incorporate soft actuators are appropriate for micromanipulation or microsurgery owing to their ability to grasp objects without causing damage. However, developing a microgripper with a large gripping range that can produce a large force with high speed remains challenging in soft actuation mechanisms. Herein, we introduce a compliant microgripper driven by a soft dielectric elastomer actuator (DEA) called a spiral flexure cone DEA (SFCDEA). The submillimeter-scale SFCDEA exhibited a controllable linear displacement over a high bandwidth and the capability of lifting 100.9 g, which was 670 times higher than its mass. Subsequently, we developed a compliant microgripper based on the SFCDEA using smart composite microstructure technology to fabricate three-dimensional gripper linkages. We demonstrated that the microgripper was able to grasp various millimeter-scale objects with different shapes, sizes, and weights without a complex feedback control owing to its compliance. We proved the versatility of our gripper in robotic manipulation by demonstrating adaptive grasping and releasing of small objects using vibrations owing to its high bandwidth.

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软质聚合物驱动的顺应式微抓手,具有自适应振动控制的抓取和释放功能。
包含软致动器的微型机械手适用于微操作或显微手术,因为它们能够抓取物体而不会造成损坏。然而,在软驱动机制中,开发具有较大抓取范围并能高速产生较大力的微型机械手仍然是一项挑战。在此,我们介绍一种由软介质弹性体致动器(DEA)驱动的顺应式微抓手,这种致动器被称为螺旋挠性锥 DEA(SFCDEA)。亚毫米级的 SFCDEA 在高带宽范围内表现出可控的线性位移,并能举起 100.9 克的重物,是其质量的 670 倍。随后,我们利用智能复合微结构技术,在 SFCDEA 的基础上开发了一种顺应式微抓手,以制造三维抓手连杆。我们证明,该微型机械手由于具有顺应性,无需复杂的反馈控制就能抓取各种不同形状、尺寸和重量的毫米级物体。我们利用振动的高带宽演示了自适应抓取和释放小物体,从而证明了我们的抓手在机器人操纵方面的多功能性。
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