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A Novel Soft Wrist Joint with Variable Stiffness

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13456))

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Abstract

This paper presents a novel soft wrist joint made up of two soft variable stiffness bending joints and one soft torsion joint. The soft variable stiffness bending joint can achieve bending motion with variable stiffness and the motion of the soft bending actuator does not influence the terminal position of the soft bending joint, which provides a prerequisite for subsequent accuracy control. The torque of the soft torsion actuator is generated from four uniformly distributed spiral chambers and fiber-reinforced ropes, which can enhance torsion. The soft wrist joints are obtained by assembling them in series, providing a new solution for the soft robotic arm.

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Acknowledgment

This work was supported in part by the National Natural Science Foundation of China under Grants 51835002 and 52075113, in part by Guangdong Science and Technology Research Council under Grant No. 2020B1515120064, in part by Guangdong Basic and Applied Basic Research Foundation under Grant 2019A1515011897.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, People’s Republic of China

    Gang Yang, Bing Li, Yang Zhang, Dayu Pan & Hailin Huang

  2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150001, People’s Republic of China

    Bing Li

Authors
  1. Gang Yang
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  2. Bing Li
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  3. Yang Zhang
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  4. Dayu Pan
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  5. Hailin Huang
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Corresponding author

Correspondence to Hailin Huang .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Shenzhen, China

    Weihong Ren

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© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Yang, G., Li, B., Zhang, Y., Pan, D., Huang, H. (2022). A Novel Soft Wrist Joint with Variable Stiffness. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_31

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  • DOI: https://doi.org/10.1007/978-3-031-13822-5_31

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13821-8

  • Online ISBN: 978-3-031-13822-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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