典型文献
A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range
文献摘要：
In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft gripper structures and a soft bionic bracket structure.We adopt the local thin-walled design in the soft gripper structures.This design improves the grippers'bending efficiency,and imitate human finger's segmental bending function.In addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers'opening and closing movements.Due to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping devices.Particularly,to grasp small objects reliably,we further present a new Pinching Grasping(PG)method.The great performance of the fully SBGD is verified by experiments.This work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.
文献关键词：
中图分类号：
作者姓名：
Lingjie Gai;Xiaofeng Zong
作者机构：
School of Automation,China University of Geosciences,Wuhan 430074,China;Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems,Wuhan 430074,China;Engineering Research Center of Intelligent Technology for Geo-Exploration,Ministry of Education,Wuhan 430074,China
文献出处：
引用格式：
[1]Lingjie Gai;Xiaofeng Zong-.A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range)[J].仿生工程学报（英文版）,2022(05):1334-1348
A类：
SBGD,Pinching
B类：
Fully,Soft,Bionic,Grasping,Device,Properties,Segmental,Bending,Shape,Automatically,Adjusting,Range,In,this,paper,we,fully,which,has,advantages,automatically,adjusting,grasping,range,variable,stiffness,controllable,bending,shape,This,consists,soft,structures,bionic,bracket,We,adopt,local,thin,walled,design,improves,grippers,efficiency,imitate,human,segmental,function,addition,work,also,proposes,pneumatic,not,only,can,fix,but,space,by,imitating,adjacent,fingers,opening,closing,movements,Due,above,larger,smaller,objects,than,regular,devices,Particularly,reliably,further,present,new,PG,method,performance,verified,experiments,will,promote,innovative,development,robots,greatly,meet,applications,dexterous,multi,size
AB值：
0.550258
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