Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation
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 univers...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-12-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202400271 |
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| _version_ | 1846111052260966400 |
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| author | Hanwen Cao Jianshu Zhou Kai Chen Qiguang He Qi Dou Yun‐Hui Liu |
| author_facet | Hanwen Cao Jianshu Zhou Kai Chen Qiguang He Qi Dou Yun‐Hui Liu |
| author_sort | Hanwen Cao |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-8b41cbcf86254d058171ab1b48fe4fe3 |
| institution | Kabale University |
| issn | 2640-4567 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj-art-8b41cbcf86254d058171ab1b48fe4fe32024-12-23T13:10:43ZengWileyAdvanced Intelligent Systems2640-45672024-12-01612n/an/a10.1002/aisy.202400271Design and Optimization of an Origami Gripper for Versatile Grasping and ManipulationHanwen Cao0Jianshu Zhou1Kai Chen2Qiguang He3Qi Dou4Yun‐Hui Liu5The Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 Hong Kong SARThe Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 Hong Kong SARThe Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong 999077 Hong Kong SARThe Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 Hong Kong SARThe Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong 999077 Hong Kong SARThe Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 Hong Kong SARRobotic 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.https://doi.org/10.1002/aisy.202400271graspingmanipulationorigami robotsrobotic gripperssoft robotics |
| spellingShingle | Hanwen Cao Jianshu Zhou Kai Chen Qiguang He Qi Dou Yun‐Hui Liu Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation Advanced Intelligent Systems grasping manipulation origami robots robotic grippers soft robotics |
| title | Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation |
| title_full | Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation |
| title_fullStr | Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation |
| title_full_unstemmed | Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation |
| title_short | Design and Optimization of an Origami Gripper for Versatile Grasping and Manipulation |
| title_sort | design and optimization of an origami gripper for versatile grasping and manipulation |
| topic | grasping manipulation origami robots robotic grippers soft robotics |
| url | https://doi.org/10.1002/aisy.202400271 |
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