A Multi-Tentacle Gripper for Dynamic Capture

Chenghao Yang1,2; Ian D. Walker3; David T. Branson4; Jian S Dai5,6; Tao Sun1; Rongjie Kang1

2024

10.1109/TRO.2024.3454437

IEEE Transactions on Robotics   影响因子和分区

1941-0468

Dynamic capture is one of the most challenging issues to be solved in the field of robotics. Although robotic hands/grippers have emerged for decades, there are still few of them that can dynamically capture moving targets because the process is strongly accompanied by impact force and uncertainties in relative gripper/target locations and velocities. In this paper, we present the novel design of a multi-tentacle gripper inspired by the motions of sea anemones. It is found that each tentacle of the sea anemone is not individually able to capture a fish, but the collaboration of a larger number of tentacles can greatly enhance overall capture ability. Based on this concept, twelve continuum arms including active and passive types are proposed and evaluated for their deformation to external forces. In addition, a deployable base, inspired by origami and Sarrus mechanisms, is utilized to change the posture of the continuum arms and drive the active arms. An inertial measurement unit (IMU) is equipped to sense the impact from the dynamic targets. Finally, a series of experiments proved that the proposed multi-tentacle gripper can capture dynamic targets with different shapes, velocities, and collision angles, showing satisfactory capture robustness.

其他

1.Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin University, Tianjin, China
2.School of Mechanical Engineering, Hebei University of Technology, Tianjin, China
3.Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA
4.Advanced Manufacturing Technology Research Group, Faculty of Engineering, University of Nottingham, Nottingham, NG7 2RD, UK
5.Centre for Robotics Research, Department of Engineering, King's College London, London, U.K
6.Institute for Robotics, Southern University of Science and Technology, Shenzhen, China

Chenghao Yang,Ian D. Walker,David T. Branson,et al. A Multi-Tentacle Gripper for Dynamic Capture[J]. IEEE Transactions on Robotics,2024,PP(99).

Chenghao Yang,Ian D. Walker,David T. Branson,Jian S Dai,Tao Sun,&Rongjie Kang.(2024).A Multi-Tentacle Gripper for Dynamic Capture.IEEE Transactions on Robotics,PP(99).

Chenghao Yang,et al."A Multi-Tentacle Gripper for Dynamic Capture".IEEE Transactions on Robotics PP.99(2024).