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지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2021.10
- 수록면
- 406 - 411 (6page)
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초록· 키워드
오류제보하기
This paper is concerned with developing a soft robot hand consisting of three Rib-Reinforced Vacuum-Driven Actuators that perform tasks requiring flexibility in the same workspace as humans. Most of the conventional soft actuators are powered by compressed air, which is easy to obtain the output, however, there is a risk of rupture. In consideration of workers’ and products’ safety, vacuum-driven soft actuators were developed to avoid rupture. In order to prevent undesirable buckling due to atmospheric pressure, resin ribs are appropriately placed inside to enable bending motion by vacuum drive. This soft actuator generated a maximum force of about 2.9 N at its tip. Furthermore, the tip force is controlled by the force feedback PID control, which was established by using the pressure-force characteristic of the soft actuators and could be controlled for a mixture of step, linear, and sinusoidal waves as the reference force inputs. In the experiments of grasping, the soft robot hand was able to grasp workpieces of various materials and shapes, including a plastic bottle with water (0.535 kg). In addition, by introducing the pressure feedback control, the soft robot hand achieved to gently grasp the paper balloon without changing its shape.
목차
Abstract
1. INTRODUCTION
2. DESIGN OF VACUUM DRIVEN BENDING SOFT ACTUATOR
3. CHARACTERISTICS OF GENERATED FORCE
4. PID FORCE CONTROL
5. SOFT ROBOT HAND
6. CONCLUSIONS
REFERENCES
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