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Published at December 10

Optimization-Driven Design of Monolithic Soft-Rigid Grippers

cs.RO

cs.MS

Released Date: December 10, 2024

Authors: Pierluigi Mansueto¹, Mihai Dragusanu², Anjum Saeed², Monica Malvezzi², Matteo Lapucci¹, Gionata Salvietti²

Aff.: ¹University of Florence; ²University of Siena

Arxiv: http://arxiv.org/pdf/2412.07556v1

Refer to caption

Type	Configuration					Stiffness			$\mathcal{R}$	Time(h)
Type	$l_{t}$	$n_{r}$	$h_{t}$	$t_{h}$	$\alpha$	$k_{\xi}$	$k_{\eta}$	$k_{\zeta}$	$\mathcal{R}$	Time(h)
Target	15	3	8.0	0.5	0	990.3	35.28	5.09	5e-5	2.59
Final	15.03	3	8.03	0.5	0	994.77	35.15	5.11	5e-5	2.59
Target	20	3	14	0.5	0	741.28	6	1.97	3e-5	2.63
Final	27.95	4	11.66	0.59	11	744.99	6	1.98	3e-5	2.63
Target	20	3	10	0.5	21	635.47	6.22	2.8	0	1.1
Final	27.42	3	10.64	0.6	20	635.91	6.21	2.79	0	1.1