Innovative development of a soft robotic gripper: mathematical modeling and grasping capability analysis
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Trinh, Xuan Hiep, Chu, Anh My, Phung, Van Binh and Le, Chi Hieu
ORCID: 0000-0002-5168-2297
(2023)
Innovative development of a soft robotic gripper: mathematical modeling and grasping capability analysis.
Mechanics Based Design of Structures and Machines, An International Journal.
pp. 1-28.
ISSN 1539-7734 (Print), 1539-7742 (Online)
(doi:https://doi.org/10.1080/15397734.2023.2242919)
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43689_LE_Innovative_development_of_a_soft_robotic_gripper_Mathematical_modeling.pdf - Accepted Version Available under License Creative Commons Attribution Non-commercial No Derivatives. Download (2MB) | Preview |
Abstract
Recently, most soft grippers rely on complex mechanisms or complicated structures, leading to challenging fabrication and mathematical modeling. This study presents an innovative soft-fingered gripper design with an asymmetric tube that has a variable cross-section, providing a simple yet effective solution for gripping tasks. The proposed mathematical modeling and solutions were successfully developed and experimentally validated to analyze the effects of the robot arm’s motion on the gripping capability of the gripper. This innovation represents an improvement over existing designs and has the potential to enhance the design and efficient performance of soft robotic grippers.
| Item Type: | Article |
|---|---|
| Additional Information: | This work was supported by the Vingroup Innovation Foundation (VINIF) annual research support program under the grant number VINIF.2019.DA08. |
| Uncontrolled Keywords: | soft robotic gripper; mathematical modeling; robotic simulations; robotic dynamics |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Faculty / School / Research Centre / Research Group: | Faculty of Engineering & Science Faculty of Engineering & Science > School of Engineering (ENG) |
| Last Modified: | 10 Aug 2024 01:38 |
| URI: | http://gala.gre.ac.uk/id/eprint/43689 |
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