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A novel mode controllable hybrid valve pressure control method for soft robotic gripper
| Content Provider | SAGE Publishing |
|---|---|
| Author | Huang, Haiming Wu, Linyuan Lin, Junhao Fang, Bin Sun, Fuchun |
| Copyright Year | 2018 |
| Abstract | Compared with traditional rigid gripper with joint-linkage structure, novel soft robotic gripper gives rise to continuous concern for the advantages of no-damage grasping, convenient manufacture, easy control, and low cost. In this study, we design and built two kinds of soft robotic grippers with four fiber-reinforced soft actuators which are distributed in circular and rectangle shapes for single and twin contacts grasping. A novel hybrid valve pneumatic control scheme combining proportional and solenoid valves is proposed. Also, a mode controllable hybrid valve pressure control method is proposed to adjust internal pressure of soft robotic grippers to adapt to different grasping tasks. The experiment results verify that the performances of hybrid valve outperform those of individual proportional valve or solenoid valve in the aspects of response time and steady-state accuracy. The hybrid valve has wide range of pressure regulation, result in that the soft robotic grippers are qualified to grasp various objects with different shapes, sizes, and weights. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881418802140?download=true |
| ISSN | 17298806 |
| Issue Number | 5 |
| Volume Number | 15 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881418802140 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2018-09-25 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2018 |
| Subject Keyword | hybrid valve soft actuator pressure regulation Soft gripper pneumatic control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
