III. Bio-Inspired Soft Robotic Grippers and Manipulators – Xingwen Zheng Research Group@Zhejiang University

Bio-Inspired Soft Robotic Grippers and Manipulators

仿生软体抓取手和微操作系统

Reference:

Xingwen Zheng, Ningzhe Hou, Pascal Johannes Daniel Dinjens, Ruifeng Wang, Chengyang Dong, and Guangming Xie, A Thermoplastic Elastomer Belt Based Robotic Gripper. IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE IROS), 2020.
Xingwen Zheng, Hao Mo, Haoran Yao, and Fumihito Arai, A 3D-Printed Centimeter-Scale Pneumatically Actuated Robotic Manipulator for Micro-Manipulations. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2024. (Best Application Paper Award Nomination; 最佳应用论文奖荣誉提名)
Mingxin Wu, Xingwen Zheng*, Ruosi Liu, Ningzhe Hou, Waqar Hussain Afridi, Rahdar Hussain Afridi, Xin Guo, Jianing Wu, Chen Wang, and Guangming Xie*, Glowing sucker octopus (Stauroteuthis syrtensis)-inspired soft robotic gripper for self-adaptive grasping. Advanced Science, 2022. (as Co-PI; Selected as Back Cover 入选期刊封底文章)
Ningzhe Hou†, Mingxin Wu†, Qin Zhao, Zhenhua Tang, Mianming Zhang, Xiaoxian Xu, Xingwen Zheng*, Guangming Xie*, Reticular origami soft robotic gripper for shape-adaptive and rapid grasping, Soft Robotics, 2024. (as Co-PI)
Mingxin Wu, Waqar Hussain Afridi, Jiaxi Wu, Rahdar Hussain Afridi, Kaiwei Wang, Xingwen Zheng, Chen Wang, Guangming Xie*, Octopus-inspired underwater soft robotic gripper with crawling and swimming capabilities, 2024.

The following videos and photos can also be found at: https://space.bilibili.com/3493272800463582

Part I: Reticular Kirigami soft robotic gripper for shape-adaptive and rapid grasping

网状折纸软机器人抓取手

Co-supervised with Prof. Guangming Xie (Peking University)

Ph.D. students: Ningzhe Hou (University of Oxford) and Mingxin Wu (Peking University)

Rapid grasping

网状折纸软机器人抓取手的快速抓取动作的展示

Grasping various objects

网状折纸软机器人抓取手对多种物体的抓取展示

Capturing a flying table tennis ball

网状折纸软机器人抓取手抓取运动中的乒乓球

The demonstration of the gripper catching a goldfish in the water

网状折纸软机器人抓取手在水中抓金鱼的演示

The reticular origami structure

网状折纸软机器人抓取手的网状折纸结构的制作工艺和拉伸性能

The diameter sensing of different objects

网状折纸软机器人抓取手对不同物体的尺寸的感知

The shuttlecock lands on different positions on the gripper to trigger the rapid grasping

羽毛球落在网状折纸软机器人抓取手的不同位置以触发快速抓取

Capturing the toy drone that lands vertically, with a certain angle, and over the gripper

网状折纸软机器人抓取手抓取飞过的无人机

The demonstration of the gripper captures objects at different placing angles

网状折纸软机器人抓取手以不同放置角度捕捉物体

Part II: A Thermoplastic Elastomer Belt Based Robotic Gripper

基于热塑性弹性体带的机器人抓取手

Design of the gripper. (a) Confifigurations of the gripper. (b) The prototype of the gripper with the force sensors

Normal stress analysis for the thermoplastic elastomer net of the gripper. (a) X component of the normal stress on the net. (b) Y component of the normal stress on the net. (c) Z component of the normal stress on the net.

Closed and open states of the gripper. (a) The process of opening the gripper. (b) Dimensions of the closed gripper. (c) Dimensions of the open gripper.(d) Dimensions of the closed thermoplastic elastomer belt-made net. (e) Dimensions of the open thermoplastic elastomer belt-made net.

Animation of opening and closing of the gripper

Detailed processes of grasping egg, rose, and glass

Applications of the gripper in sorting eggs in the factory and glasses in the restaurant.

Part III: A glowing sucker octopus (Stauroteuthis syrtensis)-inspired soft robotic gripper for self-adaptive grasping

受发光章鱼启发的软体抓取手

Grasping multiple objects in the air

受发光章鱼启发的软体抓取手的展开和闭合动作

The opening and closing actions of a glowing sucker octopus-inspired soft robotic gripper

受发光章鱼启发的软体抓取手的多种抓取策略

Grasping objects with different convex and concave surfaces under the water

受发光章鱼启发的软体抓取手的水下抓取应用展示

Grasping a turtle under the water

受发光章鱼启发的软体抓取手的活体抓取应用展示

Part IV. A 7-DOF centimeter-scale pneumatically actuated robotic manipulation system for cell manipulations

To be updated...