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    Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation

    Source: Journal of Mechanical Design:;2023:;volume( 146 ):;issue: 004::page 45001-1
    Author:
    Shan, Xiaowei
    ,
    Birglen, Lionel
    DOI: 10.1115/1.4063763
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This article aims at presenting a detailed and practical comparison between three designs of robotic soft fingers for industrial grippers. While the soft finger based on the fin ray effect (FRE) shown here has been proposed long ago, few works in the literature have studied its reliance on the presence of the crossbeams or its precision grasp performance compared to its power grasps. Aiming at addressing these gaps, two novel designs are proposed and compared to FRE fingers in this article. First, the three designs are presented. One of these fingers, named PacomeFlex, embeds changeable grasping modes by relying on two sets of kinematic structures with a bistable stopper design. Then, finite element analyses (FEA) are conducted to simulate power and precision grasps of the three fingers followed by the estimation of the grasp forces produced. These FEA are then used to train neural networks capable of predicting these grasp forces. Finally, the grasp strength and pullout resistance of the fingers are experimentally measured, and experimental results are shown to be in good accordance with the FEA and neural network models. As will also be shown, the PacomeFlex finger introduced in this work provides a noticeably higher performance level than all other fingers with respect to typical metrics in soft grasping.
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      Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation

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    contributor authorShan, Xiaowei
    contributor authorBirglen, Lionel
    date accessioned2024-12-24T19:13:26Z
    date available2024-12-24T19:13:26Z
    date copyright11/7/2023 12:00:00 AM
    date issued2023
    identifier issn1050-0472
    identifier othermd_146_4_045001.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4303530
    description abstractThis article aims at presenting a detailed and practical comparison between three designs of robotic soft fingers for industrial grippers. While the soft finger based on the fin ray effect (FRE) shown here has been proposed long ago, few works in the literature have studied its reliance on the presence of the crossbeams or its precision grasp performance compared to its power grasps. Aiming at addressing these gaps, two novel designs are proposed and compared to FRE fingers in this article. First, the three designs are presented. One of these fingers, named PacomeFlex, embeds changeable grasping modes by relying on two sets of kinematic structures with a bistable stopper design. Then, finite element analyses (FEA) are conducted to simulate power and precision grasps of the three fingers followed by the estimation of the grasp forces produced. These FEA are then used to train neural networks capable of predicting these grasp forces. Finally, the grasp strength and pullout resistance of the fingers are experimentally measured, and experimental results are shown to be in good accordance with the FEA and neural network models. As will also be shown, the PacomeFlex finger introduced in this work provides a noticeably higher performance level than all other fingers with respect to typical metrics in soft grasping.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleBistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation
    typeJournal Paper
    journal volume146
    journal issue4
    journal titleJournal of Mechanical Design
    identifier doi10.1115/1.4063763
    journal fristpage45001-1
    journal lastpage45001-10
    page10
    treeJournal of Mechanical Design:;2023:;volume( 146 ):;issue: 004
    contenttypeFulltext
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