1 Introduction
2 Design of the Novel Structure
2.1 Inspiration
2.2 Structure of the E-Gripper
2.2.1 Structure of the Finger
2.2.2 Overall Gripper Structure
2.3 Fabrication of the E-Gripper
2.3.1 Material Selection
2.3.2 Fabrication Process
3 Mathematical Model
3.1 Strain Energy Function Model of Material
3.2 Static Model of Bending
3.3 Dynamic Model of Bending
3.4 Mechanical Model of Enveloping Gripping
4 Testing for Characteristics and Gripping
4.1 Bending Angle
Pressure (kPa) | 30 | 60 | 90 | 120 | 150 |
---|---|---|---|---|---|
Finger segment 1 | 3.6 | 4.64 | 7.70 | 6.33 | 6.62 |
Finger segment 2 | 3.91 | 4.93 | 8.98 | 8.14 | 7.69 |
Finger segment 3 | 6.16 | 7.94 | 6.27 | 7.45 | 8.09 |
4.2 Response Time
Pressure (kPa) | 30 | 60 | 90 | 120 | 150 |
---|---|---|---|---|---|
E-Gripper | 66 | 138 | 192 | 277 | 321 |
FS-Gripper | 253 | 576 | 795 | 1215 | 1444 |