Electroadhesion-Based High-Payload Soft Gripper With Mechanically Strengthened Structure

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This article proposes a reinforced soft gripper with a mechanically strengthened electroadhesion pad and a multilayered dielectric elastomer (DE) actuator, for practical robotic application. The reinforcement of the electroadhesion pad is achieved by a metallic electrode pattern printed on a flexible polyimide film, which has a higher elastic modulus than typical soft materials. Moreover, the multilayered DE actuator is used to increase the bending force of the soft gripper. We maximize the gripper performance by optimizing design factors of the electroadhesion and multilayered DE through experimental and simulation analysis. In this study, we demonstrate dynamic picking up and placing tasks with the designed gripper assembled to a robotic manipulator. The gripper can lift and move various shaped objects 100 times heavier than the gripper's mass of 6.2 g. Moreover, the soft gripper with a large area can firmly hold 16.8 kg, with optimized specifications.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2022-01
Language
English
Article Type
Article
Citation

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.69, no.1, pp.642 - 651

ISSN
0278-0046
DOI
10.1109/TIE.2021.3053887
URI
http://hdl.handle.net/10203/288213
Appears in Collection
ME-Journal Papers(저널논문)
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