A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect

Jiaming Fu, Han Lin, I. V.S. Prathyush, Xiaotong Huang, Lianxi Zheng, Dongming Gan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

Variable stiffness grippers can adapt to objects with different shapes and gripping forces. This paper presents a novel variable stiffness gripper (VSG) based on the Fin Ray effect that can adjust stiffness discretely. The main structure of the gripper includes the compliant frame, rotatable ribs, and the position limit components attached to the compliant frame. The stiffness of the gripper can be adjusted by rotating the specific ribs in the frame. There are four configurations for the gripper that were developed in this research: a) all ribs OFF (Flex) mode; b) upper ribs ON and lower ribs OFF (Hold) mode; c) upper ribs OFF and lower ribs ON (Pinch) mode; d) all ribs ON (Clamp) mode. Different configurations can provide various stiffness for the gripper’s finger to adapt the objects with different shapes and weights. To optimize the design, the stiffness analysis under various configurations and force conditions was implemented by finite element analysis (FEA). The 3-D printed prototypes were constructed to verify the feature and performance of the design concept of the VSG compared with the FEA results. The design of the VSG provides a novel idea for industrial robots and collaborative robots on adaptive grasping.

Original languageBritish English
Title of host publicationIntelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
EditorsHonghai Liu, Weihong Ren, Zhouping Yin, Lianqing Liu, Li Jiang, Guoying Gu, Xinyu Wu
PublisherSpringer Science and Business Media Deutschland GmbH
Pages791-802
Number of pages12
ISBN (Print)9783031138348
DOIs
StatePublished - 2022
Event15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 - Harbin, China
Duration: 1 Aug 20223 Aug 2022

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume13457 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Country/TerritoryChina
CityHarbin
Period1/08/223/08/22

Keywords

  • Adaptive grasping
  • Discrete stiffness change
  • Fin Ray effect
  • Robotic grasping
  • Variable stiffness gripper

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