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Soft robotic gripper with compliant cell stacks for industrial part handling

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Soft robotic gripper with compliant cell stacks for industrial part handling. / Netzev, Metodi; Angleraud, Alexandre; Pieters, Roel.

julkaisussa: IEEE Robotics and Automation Letters, Vuosikerta 5, Nro 4, 01.10.2020, s. 6821-6828.

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Netzev, Metodi ; Angleraud, Alexandre ; Pieters, Roel. / Soft robotic gripper with compliant cell stacks for industrial part handling. Julkaisussa: IEEE Robotics and Automation Letters. 2020 ; Vuosikerta 5, Nro 4. Sivut 6821-6828.

Bibtex - Lataa

@article{342584fac5bb459c93cdd147b7480b73,
title = "Soft robotic gripper with compliant cell stacks for industrial part handling",
abstract = "Robot object grasping and handling requires accurate grasp pose estimation and gripper/end-effector design, tailored to individual objects. When object shape is unknown, cannot be estimated, or is highly complex, parallel grippers can provide insufficient grip. Compliant grippers can circumvent these issues through the use of soft or flexible materials that adapt to the shape of the object. This letter proposes a 3D printable soft gripper design for handling complex shapes. The compliant properties of the gripper enable contour conformation, yet offer tunable mechanical properties (i.e., directional stiffness). Objects that have complex shape, such as non-constant curvature, convex and/or concave shape can be grasped blind (i.e., without grasp pose estimation). The motivation behind the gripper design is handling of industrial parts, such as jet and Diesel engine components. (Dis)assembly, cleaning and inspection of such engines is a complex, manual task that can benefit from (semi-)automated robotic handling. The complex shape of each component, however, limits where and how it can be grasped. The proposed soft gripper design is tunable by compliant cell stacks that deform to the shape of the handled object. Individual compliant cells and cell stacks are characterized and a detailed experimental analysis of more than 600 grasps with seven different industrial parts evaluates the approach.",
keywords = "grasping, grippers and other end-effectors, Soft robotics",
author = "Metodi Netzev and Alexandre Angleraud and Roel Pieters",
year = "2020",
month = "10",
day = "1",
doi = "10.1109/LRA.2020.3020546",
language = "English",
volume = "5",
pages = "6821--6828",
journal = "IEEE Robotics and Automation Letters",
issn = "2377-3766",
publisher = "IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC",
number = "4",

}

RIS (suitable for import to EndNote) - Lataa

TY - JOUR

T1 - Soft robotic gripper with compliant cell stacks for industrial part handling

AU - Netzev, Metodi

AU - Angleraud, Alexandre

AU - Pieters, Roel

PY - 2020/10/1

Y1 - 2020/10/1

N2 - Robot object grasping and handling requires accurate grasp pose estimation and gripper/end-effector design, tailored to individual objects. When object shape is unknown, cannot be estimated, or is highly complex, parallel grippers can provide insufficient grip. Compliant grippers can circumvent these issues through the use of soft or flexible materials that adapt to the shape of the object. This letter proposes a 3D printable soft gripper design for handling complex shapes. The compliant properties of the gripper enable contour conformation, yet offer tunable mechanical properties (i.e., directional stiffness). Objects that have complex shape, such as non-constant curvature, convex and/or concave shape can be grasped blind (i.e., without grasp pose estimation). The motivation behind the gripper design is handling of industrial parts, such as jet and Diesel engine components. (Dis)assembly, cleaning and inspection of such engines is a complex, manual task that can benefit from (semi-)automated robotic handling. The complex shape of each component, however, limits where and how it can be grasped. The proposed soft gripper design is tunable by compliant cell stacks that deform to the shape of the handled object. Individual compliant cells and cell stacks are characterized and a detailed experimental analysis of more than 600 grasps with seven different industrial parts evaluates the approach.

AB - Robot object grasping and handling requires accurate grasp pose estimation and gripper/end-effector design, tailored to individual objects. When object shape is unknown, cannot be estimated, or is highly complex, parallel grippers can provide insufficient grip. Compliant grippers can circumvent these issues through the use of soft or flexible materials that adapt to the shape of the object. This letter proposes a 3D printable soft gripper design for handling complex shapes. The compliant properties of the gripper enable contour conformation, yet offer tunable mechanical properties (i.e., directional stiffness). Objects that have complex shape, such as non-constant curvature, convex and/or concave shape can be grasped blind (i.e., without grasp pose estimation). The motivation behind the gripper design is handling of industrial parts, such as jet and Diesel engine components. (Dis)assembly, cleaning and inspection of such engines is a complex, manual task that can benefit from (semi-)automated robotic handling. The complex shape of each component, however, limits where and how it can be grasped. The proposed soft gripper design is tunable by compliant cell stacks that deform to the shape of the handled object. Individual compliant cells and cell stacks are characterized and a detailed experimental analysis of more than 600 grasps with seven different industrial parts evaluates the approach.

KW - grasping

KW - grippers and other end-effectors

KW - Soft robotics

U2 - 10.1109/LRA.2020.3020546

DO - 10.1109/LRA.2020.3020546

M3 - Article

VL - 5

SP - 6821

EP - 6828

JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

SN - 2377-3766

IS - 4

ER -