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Controllable gripping mechanics: Modelling, control and experiments

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Project Type (EU)
Publications ÚTIA

The project strives to expand knowledge of gripping mechanics, based on 3D-printed electroactive materials and pneumatically stretchable structures, origami/kirigami type, for applications in robotics, biomedicine and space. Both concepts are compared with each other. The project focuses on solving open scientific issues in the field of soft robotics such as: whether electroactive materials from 3D printing are suitable for controlled deformation; what contact forces can be expected relative to the electric excitation; what the ranges are for controllable deformations; whether control of the mechanics of the finger is possible in real-time. Project combines physical and numerical modelling of excited deformation; data measurement and identification of parameters of constitutive models of electromechanical coupling; predictive control design with complex and reduced numerical predictions. The gained theoretical knowledge and simulation outputs are used for experimental verification on the planned test stand of two-jaw electrically controlled mechanics with sensing of contact forces.

External collaborators: Ing. Pavel Píša, Ph.D. and Štěpán Pressl.

WWW: GC23-04676J (RIV)  

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