EGR557.Gripper.github.io

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Introduction

Team members:

• Borna M. (bmansoo1@asu.edu)
• Awab A. (aasalamm@asu.edu)
• Aman D. (adadheec@asu.edu)

Project milestones

• Research Question
• Biomechanics Background and Initial Specification
• System Kinematics
• Presentation 1
• System Dynamics
  • Dynamics 1
  • Parameter ID Plan
  • Parameter ID
    • Motor
    • Spring
    • Fiber glass
  • Dynamics 2
• Presentation 2
• Optimization
  • Plan
  • Design Optimization
  • Experiment Design, Data Collection, Analysis & Conclusion
• Manufacturing Planning
• Presentation 3

Additional Files

• Data
• Video/Image Gallery
• CAD & Design Files
• Code

Research Question

Can a mechanically-actuated (non-metallic) foldable mechanism be used as a gripper, have as much holding torque as a parrot fish bite?

Background

link to background

Results

1. Maximize gripping force by utilizing 8 rubber bands
2. Maximize output force by attaching servo links furthest away from the center point

Conclusions and Future Work

• Use optimization to determine link ratios
• Design and 3D print gripper assembly
• Manufacture the other half of the system
• Test system grasping force and actuation with the completed assembly

External Links

• link to idealab
• link to Foldable Robotics Website
• Actuator fitting
• Least square optimization
• Scipy.optimize.minimize
• Pynamics python package
• four bar example

References

• “Origami inspires tiny medical devices - youtube.” [Online]. Available: https://www.youtube.com/watch?v=L_9BDZ6ZBwk. [Accessed: 07-Feb-2022].
• Z. Kan, Y. Zhang, Y. Yang, Y. A. Tse and M. Y. Wang, “An Origami-Inspired Monolithic Soft Gripper Based on Geometric Design Method,” 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), 2019, pp. 470-476, doi:10.1109/ROBOSOFT.2019.8722746.
• B. J. Edmondson, L. A. Bowen, C. L. Grames, S. P. Magleby, L. L. Howell, and T. C. Bateman, “Oriceps: Origami-inspired forceps,” Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, 2013.
• Orlofsky, C. Liu, S. Kamrava, A. Vaziri and S. M. Felton, “Mechanically Programmed Miniature Origami Grippers,” 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 2872-2878, doi: 10.1109/ICRA40945.2020.9196545.
• C. Liu, P. Maiolino, and Z. You, “A 3D-printable robotic gripper based on thick panel origami,” Frontiers in Robotics and AI, vol. 8, 2021.