Muscle-Like Piezohydraulic Actuators for Robotic Grippers
W. Zoels, I. Vittorias, G. Bachmaier
Siemens AG, München, Germany
Industrial robotic grippers nowadays do not present the required flexibility against changing or individual workpieces. As a result, tools and gripping systems have to be changed often. The human-hand, on the other side, with a huge degree of dexterity can handle many workpieces with a wide variety of dynamic properties ranging from precise positioning up to applying high forces. The goal of this contribution is to demonstrate the usage of the piezohydraulic actuation principle as a muscle-like actuator in the realization of a versatile robotic hand. By combining a human-like multi-fingered robot hand with this flexible actuation principle, a dexterous gripping mechanism can be realized. Fifteen such actuators are integrated in the fore-arm of a 6-DoF robotic arm and drive the tendons of the human-like robotic end-effector. This enables a broader range of objects that can be grasped with such a gripper than with typical grippers, being able to grasp both delicate objects using soft dynamics as well as to realize high forces required in many industrial applications.
ACTUATOR 2016 Manuscript B3.5
Publication date: 01/06/2016
Manuscript B3.5 published in Conference Proceedings ACTUATOR 2016
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