A Vacuum-driven Origami “Magic-ball” Soft Gripper
Name
ICRA19_1887_FI.pdf
Description
Final version of the manuscript
Size
5.19 MB
Format
Adobe PDF
Checksum (MD5)
0ba3c3f6375097f92517fb7fb6902234
Author(s)
Diaz, Evelin Villegas
Wood, Robert J.
Stampfli, John J.
Li, Shuguang
Xu, Helen
Malkin, Elian
Rus, Daniela L
Date Issued
May 2019
Journal
Proceedings of the 2019 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Li, Shuguang, John J. Stampfli, Helen J. Xu, Elian Malkin, Evelin Villegas Diaz, Daniela Rus, and Robert J. Wood. "A Vacuum-driven Origami “Magic-ball” Soft Gripper." 2019 IEEE International Conference on Robotics and Automation (May 2019).
Version
Author's final manuscript
Abstract
Soft robotics has yielded numerous examples of soft grippers that utilize compliance to achieve impressive grasping performances with great simplicity, adaptability, and robustness. Designing soft grippers with substantial grasping strength while remaining compliant and gentle is one of the most important challenges in this field. In this paper, we present a light-weight, vacuum-driven soft robotic gripper made of an origami “magic-ball” and a flexible thin membrane. We also describe the design and fabrication method to rapidly manufacture the gripper with different combinations of lowcost materials for diverse applications. Grasping experiments demonstrate that our gripper can lift a large variety of objects, including delicate foods, heavy bottles, and other miscellaneous items. The grasp force on 3D-printed objects is also characterized through mechanical load tests. The results reveal that our soft gripper can produce significant grasp force on various shapes using negative pneumatic pressure (vacuum). This new gripper holds the potential for many practical applications that require safe, strong, and simple grasping
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://www.ieee-ras.org/component/rseventspro/event/1146-icra-2019-2019-international-conference-on-robotics-and-automation-icra
