Dielectric elastomer actuators (DEAs) are a promising soft actuator technology for robotics. Adding robotic functionalities—folding, variable stiffness, and adhesion—into their actuator design is a novel method to create functionalized robots with simplified actuator configurations. We first propose a foldable actuator that has a simple antagonistic DEA configuration allowing bidirectional actu...

Abstract—This paper presents a design and optimization for a compliant gripper. The gripper is constructed based on the concept of compliant mechanism with flexure hinge. A passive force regulation mechanism is presented to control the grasping force a micro-sized object instead of using a sensor force. The force regulation mechanism is designed using the planar springs. The gripper is expected...

While existing grippers execute manipulation tasks, they occlude parts of the objects they grasp as well as parts of the workspace from vision sensors. We present the concept of a transparent gripper that enables vision sensors to image an object without occlusion while it is being manipulated. The physics of refraction, total internal reeection, lens eeects, dispersion and transmit-tance are a...

Optical micro parts, such as glass fibres, require handling and alignment accuracies down to the sub micrometer range. Addressing this task, one aim of the Fraunhofer IPT is the development of new concepts of active gripper systems. In this context a highly integrated, adaptive, rugged and economical gripper system particularly for accurate handling and alignment of flexible micro parts down to...

Parallel manipulators have a specific mechanical architecture where all the links are connected both at the base and at the gripper of the robot. By changing the lengths of these links we are able to control the position 1 of the gripper. In general for a given set of links lengths there is only one position for the gripper. But it may be suspected that in some In this paper position means posi...

A robotic manipulator consists of a arm and an end-effector. The function the end-effector or gripper is to allow grasp manipulate objects. traditional hard grippers are prone poor gripping ability when grasping objects with irregular shape in-ability passively adjust force delicate Soft Robotic were purposely designed solve these disadvantages. In this work, novel light weight based on action ...

The automated installation of hi-lok nuts by the robot is an effective way to replace tedious manual labor. For this purpose, appropriate end-effector needs be designed carry out feeding, alignment and fastening tasks. According process nuts, a motor driven tool with two parts: front nut runner rear driving shaft. task modeled based on force balances in screwing action, which present can rotate...