Squeeze-in Functionality for a Soft Parallel Robot Gripper

Metodi Netzev; Alexandre Angleraud; Roel Pieters

doi:10.1109/RoboSoft55895.2023.10122086

Squeeze-in Functionality for a Soft Parallel Robot Gripper

Metodi Netzev, Alexandre Angleraud, Roel Pieters

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Professional

1 Citation (Scopus)

2 Downloads (Pure)

Abstract

Grasping parts of inconsistent shapes, sizes and weights securely requires accurate part models and custom gripper fingers. Compliant grippers are a potential solution; however, each design approach requires the solution of unique problems. In this case, the durability and reliability of half lips (at least 1400 cycles) to perform consistently as springs of a specified stiffness (0.5N/mm) and displacement (5mm). Moreover, the challenge of low and small (3mm, 0.01kg bolt or Allen key) objects is addressed through vertical squeeze-in, implemented using an incline, lip and flex limiter as part of a 3D printed TPC spring. The squeeze-in phenomena are verified on large objects through a 30mm, 1.66kg common rail. Experimental results demonstrate the reliability when given a human-specified location for gripping, without the need for jigs or fixtures. Finally, the tested design is assessed for potential fulfillment of 7 of the United Nations sustainable development goals.

Original language	English
Title of host publication	2023 IEEE International Conference on Soft Robotics, RoboSoft 2023
Publisher	IEEE
Number of pages	7
DOIs	https://doi.org/10.1109/RoboSoft55895.2023.10122086
Publication status	Published - 2023
Publication type	D3 Professional conference proceedings
Event	IEEE International Conference on Soft Robotics (RoboSoft) - , Singapore Duration: 3 Apr 2023 → 7 Apr 2023

Conference

Conference	IEEE International Conference on Soft Robotics (RoboSoft)
Country/Territory	Singapore
Period	3/04/23 → 7/04/23

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10.1109/RoboSoft55895.2023.10122086

Robosoft_2023_Gripper_Optimized
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Cite this

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title = "Squeeze-in Functionality for a Soft Parallel Robot Gripper",

abstract = "Grasping parts of inconsistent shapes, sizes and weights securely requires accurate part models and custom gripper fingers. Compliant grippers are a potential solution; however, each design approach requires the solution of unique problems. In this case, the durability and reliability of half lips (at least 1400 cycles) to perform consistently as springs of a specified stiffness (0.5N/mm) and displacement (5mm). Moreover, the challenge of low and small (3mm, 0.01kg bolt or Allen key) objects is addressed through vertical squeeze-in, implemented using an incline, lip and flex limiter as part of a 3D printed TPC spring. The squeeze-in phenomena are verified on large objects through a 30mm, 1.66kg common rail. Experimental results demonstrate the reliability when given a human-specified location for gripping, without the need for jigs or fixtures. Finally, the tested design is assessed for potential fulfillment of 7 of the United Nations sustainable development goals.",

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AU - Angleraud, Alexandre

AU - Pieters, Roel

PY - 2023

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N2 - Grasping parts of inconsistent shapes, sizes and weights securely requires accurate part models and custom gripper fingers. Compliant grippers are a potential solution; however, each design approach requires the solution of unique problems. In this case, the durability and reliability of half lips (at least 1400 cycles) to perform consistently as springs of a specified stiffness (0.5N/mm) and displacement (5mm). Moreover, the challenge of low and small (3mm, 0.01kg bolt or Allen key) objects is addressed through vertical squeeze-in, implemented using an incline, lip and flex limiter as part of a 3D printed TPC spring. The squeeze-in phenomena are verified on large objects through a 30mm, 1.66kg common rail. Experimental results demonstrate the reliability when given a human-specified location for gripping, without the need for jigs or fixtures. Finally, the tested design is assessed for potential fulfillment of 7 of the United Nations sustainable development goals.

AB - Grasping parts of inconsistent shapes, sizes and weights securely requires accurate part models and custom gripper fingers. Compliant grippers are a potential solution; however, each design approach requires the solution of unique problems. In this case, the durability and reliability of half lips (at least 1400 cycles) to perform consistently as springs of a specified stiffness (0.5N/mm) and displacement (5mm). Moreover, the challenge of low and small (3mm, 0.01kg bolt or Allen key) objects is addressed through vertical squeeze-in, implemented using an incline, lip and flex limiter as part of a 3D printed TPC spring. The squeeze-in phenomena are verified on large objects through a 30mm, 1.66kg common rail. Experimental results demonstrate the reliability when given a human-specified location for gripping, without the need for jigs or fixtures. Finally, the tested design is assessed for potential fulfillment of 7 of the United Nations sustainable development goals.

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M3 - Conference contribution

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T2 - IEEE International Conference on Soft Robotics (RoboSoft)

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Squeeze-in Functionality for a Soft Parallel Robot Gripper

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