Festo_BionicSoftHand_en

01 02 03 04 BionicSoftHand Sensitive robot hand with digital control In order to keep the effort of tubing the BionicSoftHand as low as possible, the developers have specially designed a small, digitally controlled valve terminal, which is mounted directly on the hand. This means that the tubes for controlling the gripper fingers do not have to be pulled through the entire robot arm. Thus, the BionicSoftHand can be quickly and easily connected and operated with only one tube each for supply air and exhaust air. Proportional piezo valves for precise control The valve terminal consists of 24 proportional piezo valves with which the flow rates and pressures in the gripper fingers of the robot hand can be precisely dispensed. That enables both forceful and sensitive motion sequences. The 24 valve nozzles are connected via an airflow plate to the ten air connections of the gripper fingers and the two swivel modules. At the same time, the pressure sensors required for precise control are located on the plate. In order to be able to realise the filigree design with the complex air ducts in such a tight space, the plate is produced with 3D printing. Pneumatic kinematics with 3D textile knitted fabric The gripper fingers are moved over a bellows made of robust elasto- mer with two chambers, which are pressurised with compressed air. This makes them particularly elastic and hard-wearing at the same time. When both air chambers are completely empty, there is no force in the gripper fingers, and they remain stretched. The rubber bellows are enclosed in a special 3D textile cover which is knitted from both elastic and high-strength fibres. This means that the textile can be used to exactly determine at which points the structure expands, thereby generating force, and where it is prevented from expanding. Because the outside of the gripper fin- gers is elastic, a strap is used to limit the longitudinal expansion on the inside of the gripper fingers. This way, the gripper finger bends as soon as it is filled with air. Flexible printed circuit boards with a meander structure are ap- plied to the knitted fabric on which the inertial and tactile force sensors are located. The wafer-thin printed circuit boards are flexible and do not impair the movements of the gripper fingers. Modular robot hand Its flexible, pneumatic kinematics and the use of elastic materials and lightweight components distinguish the BionicSoftHand from electric or cable-operated robot hands and make inexpensive pro- duction possible. Thanks to its modular design, gripper variants with three or four pneumatic gripper fingers are also possible – for example, an adaptive pincer gripper. Potential for human–robot collaboration In combination with pneumatic lightweight robots, such as the BionicCobot or the BionicSoftArm, direct and safe human–robot collaboration is possible. Both robots are completely compliant and do not have to be shielded from the worker like conventional factory robots. The BionicSoftHand is therefore predestined for applications in the collaborative working spaces of tomorrow’s factories. Since the flexible robot hand can grip both strongly and sensitively, it can conceivably be used in assembly as a helping third hand and also in service robotics. Remote manipulation by means of gesture imitation Remote manipulation of the BionicSoftHand is also conceivable. With the help of images from a depth-sensing camera, the robot hand can imitate the gestures and hand movements of the user and react to them. The robot can thus be controlled from a safe distance, for example, when handling hazardous substances or carrying out processes that are harmful to health. In addition, sev- eral systems could be controlled simultaneously. In production of the future, there will be a need for more flexible installations and components which are independently adjusted to the respective product being made. Adaptable grippers like the BionicSoftHand can assume a significant role in this respect. Learned knowledge building blocks applicable worldwide The ability to develop independent solution strategies will make the interaction between human and machine even more intuitive, simpler and more efficient in the future. Knowledge building blocks and new skills, once learned, can be limitlessly shared and made available on a global scale. 01: Easy commissioning: quick connec- tion to various lightweight robots, such as the BionicSoftArm 02: Helping hand: predestined for direct collaboration in collaborative spaces 03: Versatile usage: four BionicSoftHand pneumatic fingers in an adaptive pin- cer gripper 04: Conceivable future scenario: working from a safe distance by means of gesture imitation 6 Festo AG & Co. KG 7 BionicSoftHand: Pneumatic robot hand with artificial intelligence