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Grasping through dynamic weaving with entangled closed loops

Author

Listed:
  • Gyeongji Kang

    (Korea Institute of Science and Technology (KIST)
    Korea University)

  • Young-Joo Kim

    (Seoul National University
    Institute for Basic Science (IBS))

  • Sung-Jin Lee

    (Korea Advanced Institute of Science and Technology (KAIST))

  • Se Kwon Kim

    (Korea Advanced Institute of Science and Technology (KAIST))

  • Dae-Young Lee

    (Korea Advanced Institute of Science and Technology (KAIST)
    Korea Advanced Institute of Science and Technology (KAIST))

  • Kahye Song

    (Korea Institute of Science and Technology (KIST))

Abstract

Pick-and-place is essential in diverse robotic applications for industries including manufacturing, and assembly. Soft grippers offer a cost-effective, and low-maintenance alternative for secure object grasping without complex sensing and control systems. However, their inherent softness normally limits payload capabilities and robustness to external disturbances, constraining their applications and hindering reliable performance. In this study, we propose a weaving-inspired grasping mechanism that substantially increases payload capacity while maintaining the use of soft and flexible materials. Drawing from weaving principles, we designed a flexible continuum structure featuring multiple closed-loop strips and employing a kirigami-inspired approach to enable the instantaneous and reversible creation of a woven configuration. The mechanical stability of the woven configuration offers exceptional loading capacity, while the softness of the gripper material ensures safe and adaptive interactions with objects. Experimental results show that the 130 g·f gripper can support up to 100 kg·f. Outperforming competitors in similar weight and softness domains, this breakthrough, enabled by the weaving principle, will broaden the scope of gripper applications to previously inaccessible or barely accessible fields, such as agriculture and logistics.

Suggested Citation

  • Gyeongji Kang & Young-Joo Kim & Sung-Jin Lee & Se Kwon Kim & Dae-Young Lee & Kahye Song, 2023. "Grasping through dynamic weaving with entangled closed loops," Nature Communications, Nature, vol. 14(1), pages 1-9, December.
    • Handle: RePEc:nat:natcom:v:14:y:2023:i:1:d:10.1038_s41467-023-40358-y
    DOI: 10.1038/s41467-023-40358-y
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    References listed on IDEAS

    as
    1. Daniela Rus & Michael T. Tolley, 2015. "Design, fabrication and control of soft robots," Nature, Nature, vol. 521(7553), pages 467-475, May.
    2. Yaoye Hong & Yinding Chi & Shuang Wu & Yanbin Li & Yong Zhu & Jie Yin, 2022. "Boundary curvature guided programmable shape-morphing kirigami sheets," Nature Communications, Nature, vol. 13(1), pages 1-13, December.
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