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Development of a novel robotic hand with soft materials and rigid structures

Yongyao Li (School of Mechanical Engineering, Dalian University of Technology, Dalian, China)
Ming Cong (School of Mechanical Engineering, Dalian University of Technology, Dalian, China)
Dong Liu (School of Mechanical Engineering, Dalian University of Technology, Dalian, China)
Yu Du (Dalian Dahua Zhongtian Technology Co., Ltd., Dalian, China)
Minjie Wu (School of Mechanical Engineering, Dalian University of Technology, Dalian, China)
Clarence W. de Silva (Department of Mechanical Engineering, University of British Columbia, Vancouver, Canada)

Industrial Robot

ISSN: 0143-991x

Article publication date: 27 September 2021

Issue publication date: 16 November 2021

410

Abstract

Purpose

Rigid robotic hands are generally fast, precise and capable of exerting large forces, whereas soft robotic hands are compliant, safe and adaptive to complex environments. It is valuable and challenging to develop soft-rigid robotic hands that have both types of capabilities. The paper aims to address the challenge through developing a paradigm to achieve the behaviors of soft and rigid robotic hands adaptively.

Design/methodology/approach

The design principle of a two-joint finger is proposed. A kinematic model and a stiffness enhancement method are proposed and discussed. The manufacturing process for the soft-rigid finger is presented. Experiments are carried out to validate the accuracy of the kinematic model and evaluate the performance of the flexible body of the finger. Finally, a robotic hand composed of two soft-rigid fingers is fabricated to demonstrate its grasping capacities.

Findings

The kinematic model can capture the desired distal deflection and comprehensive shape accurately. The stiffness enhancement method guarantees stable grasp of the robotic hand, without sacrificing its flexibility and adaptability. The robotic hand is lightweight and practical. It can exhibit different grasping capacities.

Practical implications

It can be applied in the field of industrial grasping, where the objects are varied in materials and geometry. The hand’s inherent characteristic removes the need to detect and react to slight variations in surface geometry and makes the control strategies simple.

Originality/value

This work proposes a novel robotic hand. It possesses three distinct characteristics, i.e. high compliance, exhibiting discrete or continuous kinematics adaptively, lightweight and practical structures.

Keywords

Acknowledgements

The authors wish to thank the members of DUT Biorobotics Laboratory, Dalian Dahuazhongtian Technology Co., Ltd., and Xinhai Sun for their technical devices and assistance. Funding was provided by the National Natural Science Foundation of China (Grants No. 61873045) and the Fundamental Research Funds for the Central Universities (Grants No. DUT20YG101).

Citation

Li, Y., Cong, M., Liu, D., Du, Y., Wu, M. and de Silva, C.W. (2021), "Development of a novel robotic hand with soft materials and rigid structures", Industrial Robot, Vol. 48 No. 6, pp. 823-835. https://doi.org/10.1108/IR-01-2021-0013

Publisher

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Emerald Publishing Limited

Copyright © 2021, Emerald Publishing Limited

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