Fin ray optimizationA linkage integrated fin ray gripper to harvest tomatoes is presented.A novel harvesting mechanism for adaptive stem cutting was developed.The fin ray was optimized using the proposed design method.The linkage was designed considering torque and rotation.Experiments on fin ray ...
Summary The Mark VI Fin Gripper - Black Ram Hand. This hand was designed to use the The Fin Ray Effect giving the wearer the ability to pick up soft or odd shap…
form variable gripperhigh temperatureFin RayUniversal handling systems are getting more and more relevant nowadays. Their unique ability to adapt to different objects and their various shapes enable cost savings by minimizing the number of handling systems and reducing set-up times. Furthermore, the ...
This paper introduces the TacFR-Gripper, a novel reconfigurable soft robotic gripper inspired by the Fin-Ray effect and equipped with tactile skin. The gripper incorporates a four-bar mechanism for accurate finger bending and a reconfigurable design to change the relative positions betwe...
Owing to the contact sensing capability, the developed adaptive fin-ray gripper is able to perceive the boundary geometry and structural compliance of unstructured objects. Moreover, sensor-based feed-back control can be accomplished to perform interactive manipulation, in which the contact force ...
The Fin Ray gripper design parameters were successfully optimised by the chosen Response Surface Methodology. Less force is needed to obtain a good grasp on an object when a design is made to achieve optimum weightlifting capacity and bending displacement. The gripper's design ...
Robot foot and gripper structures with compliancy using different mechanical solutions have been developed to enhance proper contact formations and gripping on various substrates. The Fin Ray structure is one of the solutions. Although the Fin Ray effect has been proposed and exploited, no detailed ...
Fin Ray effectFin Ray structureSoft gripperGrip switching systemThis paper presents a soft gripper that improves on the Fin Ray finger for enhanced gripping capability; it can be used to transfer workpieces in manufacturing processes. A system that can switch between parallel and centric grips was ...
An experimental setup is developed to validate the simulation results with the help of a UR3e robotic arm and an AXIA80 force sensor. The grasping demonstration of soft robotic gripper is performed on various objects: coffee cup and wooden block....
Biologically Inspired Gripper Based on the Fin Ray Effectdoi:10.1109/iccar.2019.8813388Md. Hazrat AliAsset ZhanabayevSamat KhamzhinKainar MussinIEEEInternational Conference on Control and Automation