A Thermoplastic Elastomer Belt Based Robotic Gripper

Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made fingers, novel robotic grippers are typically made of novel structures and materials, using a novel manufacturing process. In this paper, a novel robotic gripper with external frame and internal thermoplastic elastomer belt-made net is proposed. The gripper grasps objects using the friction between the net and objects. It has the ability of adaptive gripping through flexible contact surface. Stress simulation has been used to explore the regularity between the normal stress on the net and the deformation of the net. Experiments are conducted on a variety of objects to measure the force needed to reliably grip and hold the object. Test results show that the gripper can successfully grip objects with varying shape, dimensions, and textures. It is promising that the gripper can be used for grasping fragile objects in the industry or out in the field, and also grasping the marine organisms without hurting them

Origami‐Inspired Modular Electro‐Ribbon Actuator for Multi‐Degrees of Freedom Motion

Origami robots, inspired by an ancient form of paper folding art, are capable of achieving high displacement in a lightweight and compact design that conventional robots can hardly attain. It, however, remains a challenge to drive origami robots with in situ active materials that imply minimal added mass and complexity and can be easily controlled to achieve multiple actuation modalities. Herein, inspired by the Twisted Tower origami structure, dielectrophoretic liquid zipping actuation concept is employed to develop a modular architecture, capable of achieving complicated motions with multiple degrees of freedom (DoF). The experimental results show a maximum of 3.9 degrees tilting per layer toward any desired direction, a 56.1% contraction of the original length, and 5.4 degrees twisting per layer. Each layer can generate a maximum contractile force of 1.03 N with a maximum 64.7% power efficiency and 2.775 W kg−1 power‐to‐weight ratio. A modified heterochiral arrangement of this modular actuator is proposed to enhance controllability across various movement modes. Its use in robotic‐wrist‐like actuation has been demonstrated, highlighting its significant potential for integration into soft robotic multi‐DoF structures, such as continuum arms

A Fully 3D-Printed Tortoise-Inspired Soft Robot with Terrains-Adaptive and Amphibious Landing Capabilities

Terrain adaptation and amphibious landing pose the greatest challenges for soft amphibious robots. Based on the principles of tortoises, this paper presents a fully 3D-printed soft amphibious robot with four pneumatic bionic legs that are capable of bending in three dimensions. The gaits of the robot are described in six different ways and a dynamic model is developed for its control. In addition to linear motion (0.97 BL s−1) and turning (25.4° s−1) on rigid terrain, the robot can also maneuver on various surface conditions (such as hills, gaps, smooth slopes, gravel, sand, muddy terrain, and water), and even make an amphibious landing. These properties, together with the soft amphibious robot's continuous obstacle avoidance capabilities, high load-carrying capacity (28 times its own weight), low cost, and high camouflage, allow for a wide variety of applications

Glowing Sucker Octopus (Stauroteuthis syrtensis)-Inspired Soft Robotic Gripper for Underwater Self-Adaptive Grasping and Sensing

A soft gripper inspired by the glowing sucker octopus (Stauroteuthis syrtensis)’ highly evolved grasping capability enabled by the umbrella-shaped dorsal and ventral membrane between each arm is presented here, comprising of a 3D-printed linkage mechanism used to actuate a modular mold silicone-casting soft suction disc to deform. The soft gripper grasp can lift objects using the suction generated by the pump in the soft disc. Moreover, the protruded funnel-shaped end of the deformed suctorial mouth can adapt to smooth and rough surfaces. Furthermore, when the gripper contacts the submerged target objects in a turbid environment, local suctorial mouth arrays on the suction disc are locked, causing the variable flow inside them, which can be detected as a tactile perception signal to the target objects instead of visual perception. Aided by the 3D-printed linkage mechanism, the soft gripper can grasp objects of different shapes and dimensions, including flat objects, objects beyond the grasping range, irregular objects, scattered objects, and a moving turtle. The results report the soft gripper's versatility and demonstrate the vast application potentials of self-adaptive grasping and sensing in various environments, including but are not limited to underwater, which is always a key challenge of grasping technology