Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers DOI Creative Commons
M. Kim,

Rubaya Yaesmin,

Hyungtak Seo

и другие.

Biomimetics, Год журнала: 2025, Номер 10(5), С. 284 - 284

Опубликована: Май 1, 2025

Soft pneumatic robot-arm end-effectors can facilitate adaptive architectural fabrication and building construction. However, conventional grippers often suffer from air leakage tear, particularly under prolonged grasping inflation-induced stress. To address these challenges, this study suggests an enhanced anthropomorphic gripper by integrating a pre-stressed reversible mechanism (PSRM) novel self-healing material (SHM) polyborosiloxane–Ecoflex™ hybrid polymer (PEHP) developed the authors. The results demonstrate that PSRM finger hold various objects without external pressure input (12 mm displacement 1.2 N applied), SHM assists with recovery of mechanical properties upon damage. proposed robotic hand was evaluated through real-world construction tasks, including wall painting, floor plastering, block stacking, showcasing its durability functional performance. These findings contribute to promoting cost-effective deployment soft hands in

Язык: Английский

Trajectory Optimization for 6 DOF Robotic Arm Using WOA, GA, and Novel WGA Techniques DOI Creative Commons

Abdelrahman T. Elgohr,

Hatem A. Khater, M.A. Mousa

и другие.

Results in Engineering, Год журнала: 2025, Номер unknown, С. 104511 - 104511

Опубликована: Фев. 1, 2025

Язык: Английский

Процитировано

2
Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers DOI Creative Commons
M. Kim,

Rubaya Yaesmin,

Hyungtak Seo

и другие.

Biomimetics, Год журнала: 2025, Номер 10(5), С. 284 - 284

Опубликована: Май 1, 2025

Soft pneumatic robot-arm end-effectors can facilitate adaptive architectural fabrication and building construction. However, conventional grippers often suffer from air leakage tear, particularly under prolonged grasping inflation-induced stress. To address these challenges, this study suggests an enhanced anthropomorphic gripper by integrating a pre-stressed reversible mechanism (PSRM) novel self-healing material (SHM) polyborosiloxane–Ecoflex™ hybrid polymer (PEHP) developed the authors. The results demonstrate that PSRM finger hold various objects without external pressure input (12 mm displacement 1.2 N applied), SHM assists with recovery of mechanical properties upon damage. proposed robotic hand was evaluated through real-world construction tasks, including wall painting, floor plastering, block stacking, showcasing its durability functional performance. These findings contribute to promoting cost-effective deployment soft hands in

Язык: Английский

Процитировано

0