Abstract
The purpose of this research is to analyze and test grasping force of soft robot hand with variable stiffness, as the essential part of the robot hand, each finger is composed of 7 SMA fibers, five of which are used as skeleton of finger with variable stiffness while others provide pulling force. Firstly, the structure and materials of the fingers are introduced. Secondly, the computations of grasping forces and stiffness of fingers were implemented based on Cosserat theory and stiffness model, respectively. Moreover, the variable stiffness of fingers was measured by applying the different heating currents for the SMA simultaneously. Results indicates that the increase of stiffness around 61.7% from the low stiffness to high stiffness. Finally, the pulling forces with the variable stiffness and different grasping forces were measured, which demonstrate that grasping forces can be adjusted by varying stiffness.
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Acknowledgment
The research work was supported by the National Natural Science Fundament of China under Grants No. 51575409 and 11202153.
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Yin, H., Li, Q., Li, J., He, M. (2017). Investigate of Grasping Force for a Soft Robot Hand Under Pulling Force and Varying Stiffness. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_16
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DOI: https://doi.org/10.1007/978-3-319-65289-4_16
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