An Underwater Soft Claw Based on Bionic Principle

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	An Underwater Soft Claw Based on Bionic Principle
	Sun, Yanxu 1,2; Han F(韩非)1; Zhang DH(张道辉)1; Zhao XG(赵新刚)1; Ye D(叶丹)2
	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
内容类型	会议论文
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.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Liaoning, China 2.Department of Information Science and Engineering, Northeastern University, Shenyang, 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.