Conference proceeding
Variable Stiffness Improves Safety and Performance in Soft Robotics
2023 IEEE International Conference on Mechatronics (ICM), pp.1-6
2023 IEEE International Conference on Mechatronics (ICM) (Loughborough, UK, 15/03/2023 - 17/03/2023)
15/03/2023
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Abstract
This paper proposes a new variable stiffness soft gripper that enables high-performance grasping tasks in industrial applications. The design of the proposed monolithic soft gripper includes a middle bellow and two side bellows (i.e., fingers). The positions of the fingers are regulated by adjusting the negative pressure in the middle bellow actuator via an on-off controller. The stiffness of the soft gripper is modulated by controlling the positive pressure in the fingers through the use of a proportional air-pressure regulator. It is experimentally shown that the proposed soft gripper can modulate its stiffness by 125% within 250ms. It is also shown that the variable stiffness soft gripper can help improve the safety and performance of grasping tasks in industrial applications.
Details
- Title
- Variable Stiffness Improves Safety and Performance in Soft Robotics
- Creators
- Mert Aydin - University of WollongongEmre Sariyildiz - University of Wollongong,School of Mechanical, Materials, Mechatronic, and Biomedical Engineering,Wollongong,NSW,AustraliaCharbel Dalely Tawk - Lebanese American UniversityRahim Mutlu - University of Wollongong in DubaiGursel Alici - University of Wollongong,School of Mechanical, Materials, Mechatronic, and Biomedical Engineering,Wollongong,NSW,AustraliaIEEE
- Publication Details
- 2023 IEEE International Conference on Mechatronics (ICM), pp.1-6
- Conference
- 2023 IEEE International Conference on Mechatronics (ICM) (Loughborough, UK, 15/03/2023 - 17/03/2023)
- Publisher
- IEEE
- Number of pages
- 6
- Identifiers
- 991013225778402368
- Academic Unit
- Faculty of Science and Engineering
- Language
- English
- Resource Type
- Conference proceeding