Structural Optimization Method of a FinRay Finger for the Best Wrapping of Object
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10247428" target="_blank" >RIV/61989100:27230/21:10247428 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2076-3417/11/9/3858" target="_blank" >https://www.mdpi.com/2076-3417/11/9/3858</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/app11093858" target="_blank" >10.3390/app11093858</a>
Alternative languages
Result language
angličtina
Original language name
Structural Optimization Method of a FinRay Finger for the Best Wrapping of Object
Original language description
Soft gripping, in which the gripper adapts to differently shaped objects, is in great demandfor use in unknown or dynamically changing environments and is one of the main research subjectsin soft robotics. Several systems have already been created, one of which is a passive shape-adaptablefinger based on the FinRay effect. The geometric shape of this finger ensures that the finger wrapsaround the object it grips. FinRay fingers have been studied in several studies, which have changedthe internal structure and examined how gripping force's dependence on finger deformation changes.So far, however, no specific way has been determined to evaluate the proposed finger regarding itsability to wrap around the object. This work comes up with a new and simple method to evaluatethe finger's wrapping around the object mathematically. Based on this evaluation method, severaldifferent patterns of the internal structure of FinRay fingers were tested. The fingers were first testedin a simulation program, which simulated a steel roller indentation with a diameter of 20 mm in themiddle of the finger's contact surface. Based on the simulation results, selected types of structurewere made by the Fused Filament Fabrication method from a flexible filament and tested on a realtest rig to verify the results of the simulation and compare it with the real behaviour. According tothe methodology used, the results show that the most suitable structure of the selected tested fingersfrom the point of view of wrapping the finger around the object is a structure without internal filling.Designers can simply use the new evaluation method to compare their designed finger variants andselect the most suitable one according to the ability to wrap around the gripped object. They can alsouse graphs from this work's results and determine the finger's dimensions without internal fillingaccording to the required forces and deflection.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Applied Sciences
ISSN
2076-3417
e-ISSN
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Volume of the periodical
9
Issue of the periodical within the volume
11
Country of publishing house
CH - SWITZERLAND
Number of pages
18
Pages from-to
1-18
UT code for WoS article
000649889100001
EID of the result in the Scopus database
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