Effect of Flexible Joint and Rigid Segment Variation on Soft Robotic Finger Kinematics
Keywords:
robotic hand, soft robot, finger, manipulator, parametric study, flexible joint, rigid segmentAbstract
The latest development in the robotic hand is the application of highly deformable materials for a hand structure known as a soft robotic hand. Soft robots have many advantages over conventional rigid bionic hands due to their lightweight and compliant characteristics. Although there are various designs of a soft robotic hand that could produce compliance mechanisms, one design that resembles a human finger's structure is a manipulator that uses flexible joints and rigid segments. The combination of these two elements would affect the finger's bending angle and motion range. This article reports the design and parametric study of the manipulator, which has four main components: silicone rubber, strain limiting layer, fiber reinforcements, and 3D print structures from polylactic acid (PLA). In addition, we deliver the optimum design manipulator model, which will be manufactured in the subsequent research.
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