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- W1987667041 abstract "This paper focuses on the design of a gripper that can grasp objects with shape, size and pose uncertainty. Rather than a dexterous hand with multiple actuators and sensors, a passively adaptive gripper made of soft material can conform to various objects by using compliance. In this paper, we present a novel design methodology for a passively adaptive gripper by employing a level-set-based topology optimization technique and soft robotic technology. An underactuated conforming gripper based on this framework is proposed, and its conforming capability has been demonstrated by a variety of successful grasping experiments over various objects. The proposed gripper is cost-effective because it is monolithic and no assembly is required. The preliminary prototype is made of low-cost Polydimethylsiloxane (PDMS) elastomer and the manufacturing process is quite simple." @default.
- W1987667041 created "2016-06-24" @default.
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- W1987667041 date "2014-12-01" @default.
- W1987667041 modified "2023-09-24" @default.
- W1987667041 title "Topology design of a conforming gripper with distributed compliance via a level set method" @default.
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- W1987667041 doi "https://doi.org/10.1109/robio.2014.7090662" @default.
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