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id ecaade2020_116
authors Firth, Charlotte, Dunn, Kate and Haeusler, M.Hank
year 2020
title Design Process for a Soft Flexible Palm - Improving grasp strength in an anthropomorphic end effector for collaborative robots in construction
source Werner, L and Koering, D (eds.), Anthropologic: Architecture and Fabrication in the cognitive age - Proceedings of the 38th eCAADe Conference - Volume 2, TU Berlin, Berlin, Germany, 16-18 September 2020, pp. 423-432
summary This paper describes an iterative design process to create an anthropomorphic end-effector for a collaborative robot in construction. The focus is on improving the palm or juncture of the handlike end effector. Anthropomorphic end effectors typically have stiff, rigid palms that only provide support to the fingers rather than being an active part of the end effector. This research contributes to new knowledge through a detailed investigation of the role the palm has in improving the grip strength and control. This control and strength is essential for operating tools commonly used on construction sites. Consequently, the paper asks the question and investigates if a flexible palm could provide added support and grip for end effectors needed for complex processes.Via an action-based research method, the paper uses soft robotic techniques to experiment with a range of pneumatic iterative solutions to create a functioning palm, inspired by the human hand. The resulting end effector will aim to mimic the behaviours of the human hand.This investigation, its proposed hypothesis, methodology, implications, significance and evaluation are presented in the paper.
keywords End Effector; Hybrid Tools; Soft Robotics; Anthropomorphic
series eCAADe
email m.haeusler@unsw.edu.au
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