Modeling and Analysis of Soft Robotic Fingers using the Fin Ray Effect
This is the video attachment of the paper "Modeling and Analysis of Soft Robotic Fingers using the Fin Ray Effect" by Xiaowei Shan and Lionel Birglen, International Journal of Robotics Research, 2020, DOI: 10.1177/0278364920913926
https://journals.sagepub.com/doi/full...
This work discusses a detailed mathematical modelling of parallel grippers equipped with soft fingers taking advantage of the Fin Ray Effect, a design popularized by the automation company Festo. These fingers allow for the flexible, compliant, and adaptive grasp of random objects and conversely to most soft hands, the Fin Ray Effect fingers can be attached to most standard industrial grippers making the transition from a stiff end-of-arm tool to a soft one very easy and affordable. The model proposed in this paper is based on a pseudo-rigid body technique and is shown to accurately predict both the deformation of these fingers and their grasp forces. Finite element analyses as well as experiments are demonstrated to closely match the results of the model.
Music from https://filmmusic.io
"Nowhere Land" by Kevin MacLeod (https://incompetech.com)
License: CC BY (http://creativecommons.org/licenses/b...)