Structural Optimization Method of a FinRay Finger for the Best Wrapping of Object

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Structural Optimization Method of a FinRay Finger for the Best Wrapping of Object

Popis výsledku v původním jazyce

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&apos;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&apos;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&apos;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&apos;s results and determine the finger&apos;s dimensions without internal fillingaccording to the required forces and deflection.

Název v anglickém jazyce

Structural Optimization Method of a FinRay Finger for the Best Wrapping of Object

Popis výsledku anglicky

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&apos;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&apos;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&apos;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&apos;s results and determine the finger&apos;s dimensions without internal fillingaccording to the required forces and deflection.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Applied Sciences

ISSN

2076-3417

e-ISSN

—

Svazek periodika

9

Číslo periodika v rámci svazku

11

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

18

Strana od-do

1-18

Kód UT WoS článku

000649889100001

EID výsledku v databázi Scopus

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