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CORA hand: a 3D printed robotic hand designed for robustness and compliance
Meccanica ( IF 2.7 ) Pub Date : 2020-06-13 , DOI: 10.1007/s11012-020-01188-0
Daniele Leonardis , Antonio Frisoli

This work presents design and experimental evaluation of CORA (COmpliant Robotic hAnd), a robotic hand designed for easy manufacturing and maintenance, and for robustness and compliance in real operational environments. It takes advantage of recent soft-polymer printable filaments to obtain intrinsic compliance during grasping and accidental contacts. All parts are designed and optimized for manufacturing with conventional fused deposition modeling 3D printers, in order to allow simple fabrication and replacement of parts. In this paper design of the CORA hand is presented, focusing on specific design solutions adopted for improving robustness of the final 3D printed parts and for obtaining compliance in interaction with the environment. A prototype of the CORA hand was built and experimentally tested in terms of grasping capabilities, measuring contact forces and the distributed grasping pressure. Compliance introduced by soft polymer links was evaluated with finite element method simulation and experimental bending tests. A collision test evidenced robustness of the finger mechanism and transmission to pronounced passive deformations, induced by lateral contacts possibly occurring in common manipulation tasks.

中文翻译:

CORA 手:3D 打印的机械手,专为稳健性和合规性而设计

这项工作介绍了 CORA(合规机器人手)的设计和实验评估,这是一种旨在易于制造和维护的机械手,并在实际操作环境中具有鲁棒性和合规性。它利用最近的软聚合物可印刷细丝在抓握和意外接触期间获得内在的顺应性。所有零件均针对使用传统熔融沉积建模 3D 打印机进行制造而设计和优化,以便简化零件的制造和更换。本文介绍了 CORA 手的设计,重点介绍了为提高最终 3D 打印部件的稳健性和获得与环境相互作用的合规性而采用的特定设计解决方案。CORA 手的原型被构建并在抓取能力方面进行了实验测试,测量接触力和分布的抓握压力。通过有限元方法模拟和实验弯曲测试来评估软聚合物链接引入的柔顺性。碰撞测试证明了手指机制的鲁棒性和对明显被动变形的传输,这种变形可能由常见的操作任务中发生的横向接触引起。
更新日期:2020-06-13
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