Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping
The manipulation of objects of varying sizes is crucial for grippers used in logistics and smart home applications. However, conventional grippers lack cross‐scale grasping capabilities. This study presents a novel single‐pump‐actuated transformable dual‐mode gripper (SATDG) that combines vacuum suc...
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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2025-06-01
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| Series: | Advanced Intelligent Systems |
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| Online Access: | https://doi.org/10.1002/aisy.202400651 |
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| _version_ | 1849689767429537792 |
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| author | Tianle Pan Jing Shu Huayu Zhang Shuhao Xia Jinfei Hu Jianshu Zhou Yunhui Liu Xin Ma |
| author_facet | Tianle Pan Jing Shu Huayu Zhang Shuhao Xia Jinfei Hu Jianshu Zhou Yunhui Liu Xin Ma |
| author_sort | Tianle Pan |
| collection | DOAJ |
| description | The manipulation of objects of varying sizes is crucial for grippers used in logistics and smart home applications. However, conventional grippers lack cross‐scale grasping capabilities. This study presents a novel single‐pump‐actuated transformable dual‐mode gripper (SATDG) that combines vacuum suction and granular jamming to effectively grasp objects ranging from 10 to 300 mm in size, covering a vast 30‐fold range, with forces from 0.5 to 21 N. Using a bistable mechanism and origami structure, the SATDG can transform between two modes and activate them with one pressure source. Subsequently, a finite‐element analysis of the characteristics of the bistable frame and the origami structure is presented. The performances of both grasping modes of the SATDG are validated. Demonstrations have shown that the SATDG performs outstandingly in logistics and smart home scenarios. |
| format | Article |
| id | doaj-art-cd6b2d36b2a24e5d9e5c446749457bf8 |
| institution | DOAJ |
| issn | 2640-4567 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj-art-cd6b2d36b2a24e5d9e5c446749457bf82025-08-20T03:21:31ZengWileyAdvanced Intelligent Systems2640-45672025-06-0176n/an/a10.1002/aisy.202400651Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object GraspingTianle Pan0Jing Shu1Huayu Zhang2Shuhao Xia3Jinfei Hu4Jianshu Zhou5Yunhui Liu6Xin Ma7Multi‐Scale Medical Robotics Center Hong Kong 999077 ChinaDepartment of Biomedical Engineering The Chinese University of Hong Kong Hong Kong 999077 ChinaDepartment of Mechanical Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 ChinaDepartment of Mechanical Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 ChinaDepartment of Mechanical Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 ChinaDepartment of Mechanical Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 ChinaDepartment of Mechanical Automation Engineering The Chinese University of Hong Kong Hong Kong 999077 ChinaMulti‐Scale Medical Robotics Center Hong Kong 999077 ChinaThe manipulation of objects of varying sizes is crucial for grippers used in logistics and smart home applications. However, conventional grippers lack cross‐scale grasping capabilities. This study presents a novel single‐pump‐actuated transformable dual‐mode gripper (SATDG) that combines vacuum suction and granular jamming to effectively grasp objects ranging from 10 to 300 mm in size, covering a vast 30‐fold range, with forces from 0.5 to 21 N. Using a bistable mechanism and origami structure, the SATDG can transform between two modes and activate them with one pressure source. Subsequently, a finite‐element analysis of the characteristics of the bistable frame and the origami structure is presented. The performances of both grasping modes of the SATDG are validated. Demonstrations have shown that the SATDG performs outstandingly in logistics and smart home scenarios.https://doi.org/10.1002/aisy.202400651cross‐scale graspingsoft gripperstransformable grasping modes |
| spellingShingle | Tianle Pan Jing Shu Huayu Zhang Shuhao Xia Jinfei Hu Jianshu Zhou Yunhui Liu Xin Ma Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping Advanced Intelligent Systems cross‐scale grasping soft grippers transformable grasping modes |
| title | Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping |
| title_full | Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping |
| title_fullStr | Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping |
| title_full_unstemmed | Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping |
| title_short | Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping |
| title_sort | single pump actuated transformable dual mode gripper based on bistable and origami structures for cross scale object grasping |
| topic | cross‐scale grasping soft grippers transformable grasping modes |
| url | https://doi.org/10.1002/aisy.202400651 |
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