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

doi:10.1007/978-3-031-13835-5_71

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

Mechanical & Nuclear Engineering

Purdue University
Birla Institute of Technology and Science, Pilani

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 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 language	British English
Title of host publication	Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
Editors	Honghai Liu, Weihong Ren, Zhouping Yin, Lianqing Liu, Li Jiang, Guoying Gu, Xinyu Wu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	791-802
Number of pages	12
ISBN (Print)	9783031138348
DOIs	https://doi.org/10.1007/978-3-031-13835-5_71
State	Published - 2022
Event	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 - Harbin, China Duration: 1 Aug 2022 → 3 Aug 2022

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13457 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Country/Territory	China
City	Harbin
Period	1/08/22 → 3/08/22

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

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

Access to Document

10.1007/978-3-031-13835-5_71

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Fu, J., Lin, H., Prathyush, I. V. S., Huang, X., Zheng, L., & Gan, D. (2022). A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect. In H. Liu, W. Ren, Z. Yin, L. Liu, L. Jiang, G. Gu, & X. Wu (Eds.), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings (pp. 791-802). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13457 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-13835-5_71

Fu, Jiaming ; Lin, Han ; Prathyush, I. V.S. et al. / A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect. Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. editor / Honghai Liu ; Weihong Ren ; Zhouping Yin ; Lianqing Liu ; Li Jiang ; Guoying Gu ; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. pp. 791-802 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect",

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{\textquoteright}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.",

keywords = "Adaptive grasping, Discrete stiffness change, Fin Ray effect, Robotic grasping, Variable stiffness gripper",

author = "Jiaming Fu and Han Lin and Prathyush, \{I. V.S.\} and Xiaotong Huang and Lianxi Zheng and Dongming Gan",

note = "Funding Information: Acknowledgment. This work is partially supported by the Purdue-Khalifa University collaboration project, under award No. CIRA-2020-024 and the National Science Foundation (NSF) grant under FRR-2131711. Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",

year = "2022",

doi = "10.1007/978-3-031-13835-5\_71",

language = "British English",

isbn = "9783031138348",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "791--802",

editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",

booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",

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Fu, J, Lin, H, Prathyush, IVS, Huang, X, Zheng, L & Gan, D 2022, A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect. in H Liu, W Ren, Z Yin, L Liu, L Jiang, G Gu & X Wu (eds), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13457 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 791-802, 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, Harbin, China, 1/08/22. https://doi.org/10.1007/978-3-031-13835-5_71

A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect. / Fu, Jiaming; Lin, Han; Prathyush, I. V.S. et al.
Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. ed. / Honghai Liu; Weihong Ren; Zhouping Yin; Lianqing Liu; Li Jiang; Guoying Gu; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. p. 791-802 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13457 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Fu, Jiaming

AU - Lin, Han

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AU - Huang, Xiaotong

AU - Zheng, Lianxi

AU - Gan, Dongming

N1 - Funding Information: Acknowledgment. This work is partially supported by the Purdue-Khalifa University collaboration project, under award No. CIRA-2020-024 and the National Science Foundation (NSF) grant under FRR-2131711. Publisher Copyright: © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

PY - 2022

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N2 - 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.

AB - 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.

KW - Adaptive grasping

KW - Discrete stiffness change

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KW - Robotic grasping

KW - Variable stiffness gripper

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U2 - 10.1007/978-3-031-13835-5_71

DO - 10.1007/978-3-031-13835-5_71

M3 - Conference contribution

AN - SCOPUS:85136100966

SN - 9783031138348

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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A2 - Liu, Lianqing

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ER -

Fu J, Lin H, Prathyush IVS, Huang X, Zheng L, Gan D. A Novel Discrete Variable Stiffness Gripper Based on the Fin Ray Effect. In Liu H, Ren W, Yin Z, Liu L, Jiang L, Gu G, Wu X, editors, Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Springer Science and Business Media Deutschland GmbH. 2022. p. 791-802. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-031-13835-5_71

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

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Keywords

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