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FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects

Heeringa, Willem and Della Santina, Cosimo and Smit, Gerwin (2023) FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects. In: 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023, pp. 1-7. 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023-04-03 - 2023-04-07, Singapore, Singapore. doi: 10.1109/RoboSoft55895.2023.10122107. ISBN 979-835033222-3. ISSN 2769-4526.

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Official URL: https://ieeexplore.ieee.org/document/10122107


Industrial automation calls for precise tasks with cycle times reduced to the minimum. At the same time, when handling delicate products such as fruits and vegetables, accelerations must be kept low to keep interaction forces under a certain threshold to avoid damage. This trade-off hinders the penetration of automation in many relevant application fields. This paper investigates using soft technology to solve this challenge. We propose the FinFix gripper, a non-anthropomorphic soft gripper capable of handling delicate objects at high acceleration using a contact-reactive grasping approach. This gripper has two entirely passive sensorized fingers that establish contact and two active fingers that are actuated pneumatically through a rigid mechanism allowing for rapid closure. We provide exhaustive experimental validation by connecting the gripper to a delta robot. The system can reliably execute pick-and-place cycles in approx. 1 s when the distance between the pick and the place locations is 400 mm, resulting in a peak speed of approx. 10ms . None of the fragile objects used during the experiments showed any damage. The only information needed is a rough estimation of the object's position to be grasped and a contact event to trigger the reflex. The test results show that the gripper can hold fragile objects during lateral accelerations of 10g.

Item URL in elib:https://elib.dlr.de/197505/
Document Type:Conference or Workshop Item (Speech)
Title:FinFix: A Soft Gripper With Contact-Reactive Reflex for High-Speed Pick and Place of Fragile Objects
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Della Santina, CosimoUNSPECIFIEDhttps://orcid.org/0000-0003-1067-1134UNSPECIFIED
Date:15 May 2023
Journal or Publication Title:2023 IEEE International Conference on Soft Robotics, RoboSoft 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-7
Keywords:soft gripper
Event Title:2023 IEEE International Conference on Soft Robotics (RoboSoft)
Event Location:Singapore, Singapore
Event Type:international Conference
Event Start Date:3 April 2023
Event End Date:7 April 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Strobl, Dr. Klaus H.
Deposited On:22 Sep 2023 15:51
Last Modified:24 Apr 2024 20:57

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