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Investigate of Grasping Force for a Soft Robot Hand Under Pulling Force and Varying Stiffness

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

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Abstract

The purpose of this research is to analyze and test grasping force of soft robot hand with variable stiffness, as the essential part of the robot hand, each finger is composed of 7 SMA fibers, five of which are used as skeleton of finger with variable stiffness while others provide pulling force. Firstly, the structure and materials of the fingers are introduced. Secondly, the computations of grasping forces and stiffness of fingers were implemented based on Cosserat theory and stiffness model, respectively. Moreover, the variable stiffness of fingers was measured by applying the different heating currents for the SMA simultaneously. Results indicates that the increase of stiffness around 61.7% from the low stiffness to high stiffness. Finally, the pulling forces with the variable stiffness and different grasping forces were measured, which demonstrate that grasping forces can be adjusted by varying stiffness.

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Acknowledgment

The research work was supported by the National Natural Science Fundament of China under Grants No. 51575409 and 11202153.

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Authors and Affiliations

  1. School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, 430076, China

    Haibin Yin, Qian Li, Junfeng Li & Mingchang He

Authors
  1. Haibin Yin
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  2. Qian Li
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  3. Junfeng Li
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  4. Mingchang He
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Corresponding author

Correspondence to Haibin Yin .

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Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Yin, H., Li, Q., Li, J., He, M. (2017). Investigate of Grasping Force for a Soft Robot Hand Under Pulling Force and Varying Stiffness. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_16

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  • DOI: https://doi.org/10.1007/978-3-319-65289-4_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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