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Shan Y, Zhao Y, Wang H, Dong L, Pei C, Jin Z, Sun Y, Liu T. Variable stiffness soft robotic gripper: design, development, and prospects. BIOINSPIRATION & BIOMIMETICS 2023; 19:011001. [PMID: 37948756 DOI: 10.1088/1748-3190/ad0b8c] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Accepted: 11/10/2023] [Indexed: 11/12/2023]
Abstract
The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules. To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact, lines contact, surfaces contact, and full-bodies contact, elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.
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Affiliation(s)
- Yu Shan
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yanzhi Zhao
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Haobo Wang
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Liming Dong
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Changlei Pei
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Zhaopeng Jin
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Yue Sun
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
| | - Tao Liu
- Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China
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Takashima K, Okamura Y, Iwamoto D, Noritsugu T, Mukai T. Development of Pneumatic Artificial Rubber Muscle Using Segmented Shape-Memory Polymer Sheets. JOURNAL OF ROBOTICS AND MECHATRONICS 2023. [DOI: 10.20965/jrm.2023.p0113] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/21/2023]
Abstract
We have developed a pneumatic artificial rubber muscle using two shape-memory polymer (SMP) sheets. We attached the SMP sheets to a linear pneumatic artificial rubber muscle. Utilizing the large difference in the elastic modulus below and above the glass transition temperature, the shape fixity and shape recovery of SMPs, the bending direction and the initial shape can be changed. In this study, in order to increase the bending motion range, we developed a segmented SMP sheet with embedded electrical heating wires, and evaluated its mechanical properties using bending and tensile tests. Moreover, we attached such sheets to an artificial muscle and evaluated the bending motion. Bending tests showed that segmenting the SMP sheets greatly reduced their bending stiffness. In tensile tests at temperatures below the glass transition temperature, it was found that the artificial muscle with the attached sheet withstood high elongating loads without failure. Attachment of such segmented SMP sheets to an artificial muscle resulted in an increased bending angle. Through isotonic and isometric tests, we showed that the prototype actuator could bend in two directions.
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Affiliation(s)
- Kazuto Takashima
- Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Japan
| | - Yuta Okamura
- Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Japan
| | - Daiki Iwamoto
- Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Japan
| | | | - Toshiharu Mukai
- Department of Information Engineering, Faculty of Information Engineering, Meijo University, 1-501 Shiogamaguchi, Tenpaku-ku, Nagoya 468-8502, Japan
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Singh K, Gupta S. Controlled actuation, adhesion, and stiffness in soft robots: A review. J INTELL ROBOT SYST 2022. [DOI: 10.1007/s10846-022-01754-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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