Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation
Year: 2024
Type: article
Abstract: Robotic grasping and manipulation demand the ability to handle a multitude of objects with different shapes, sizes, quantities, surface smoothness, vulnerability, and stiffness, which is challenging without prior knowledge about object properties. Herein, a novel origami‐inspired gripper for universal grasping is presented. The innovative structure seamlessly transforms a simple uniaxial pulling motion into a flexible and robust envelope or pinch grasp, enabling it to tackle various scenarios. The origami gripper offers distinctive advantages, including scalable and optimizable design, grasping compliance and robustness, providing material flexibility, and providing solutions to challenging manipulation tasks. The working principles of the origami gripper are characterized and analyzed. An optimization‐based inverse design method is presented to adjust gripper properties for various scenarios. Through comprehensive experimentation and evaluation, the gripper's capabilities to grasp various objects with a wide range of distinctive properties, including ultrasoft, slippery, granular, and multiple objects, which is a challenge for the existing robotic grippers, are demonstrated. The research holds promise for transformative applications in areas such as the food industry, waste handling, fine and fragile objects grasping, and environmental sampling.
Source: Advanced Intelligent Systems
Authors: Hanwen Cao, Jianshu Zhou, Kai Chen, Qiguang He, Qi Dou, Yun‐Hui Liu
Institution: Chinese University of Hong Kong
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,510
OpenAlex ID: W4403940260