An Underwater Soft Claw Based on Bionic Principle
文献类型：会议论文
| 作者 | Sun, Yanxu1,2; Han F(韩非)2; Zhang DH(张道辉)2 ; Zhao XG(赵新刚)2; Ye D(叶丹)1
|
| 出版日期 | 2021 |
| 会议日期 | December 27-31, 2021 |
| 会议地点 | Sanya, China |
| 关键词 | bionics pneumatic drive soft robot |
| 页码 | 973-977 |
| 英文摘要 | The marine products are rich, nurturing many creatures on the earth and providing precious research objects for human scientific exploration. The surface of some marine animals is fragile and easily damaged. Animals such as sea cucumbers may even deform when they are grasped by external forces, making it extremely difficult to grasp. In this regard, this paper proposes a bionic soft gripper and details the design and modeling methods. The bionic claw adopts a three-finger structure. The finger design adopts a bionic shape with a deformation layer and a limiting layer. It is molded with soft silicone material. The maximum bending displacement of a single soft finger can reach 55 mm. The soft hand is lighter in weight and smaller in driving force. The control system is more portable than rigid claws. A simple push rod can be used to increase/decrease pressure to achieve positive and negative pressure driving. The gripping action of the gripper can be realized by driving water or air, and by adjusting the fixed position of the claw on the flange, the target objects of different sizes can be dealt with. The applicable objects are diverse and the application scenarios are wide. |
| 源文献作者 | Chiba Institute of Technology ; et al. ; IEEE Robotics and Automation Society ; Nankai University ; Shenyang Institute of Automation ; Shenzhen Academy of Robotics |
| 产权排序 | 1 |
| 会议录 | 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-0535-5 |
| 源URL | [http://ir.sia.cn/handle/173321/30832]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Sun, Yanxu |
| 作者单位 | 1.Department of Information Science and Engineering, Northeastern University, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning, China |
| 推荐引用方式 GB/T 7714 | Sun, Yanxu,Han F,Zhang DH,et al. An Underwater Soft Claw Based on Bionic Principle[C]. 见:. Sanya, China. December 27-31, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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