UC San Diego

The GRIP-tape project aims to develop structures and mechanisms that utilize appendages constructed from tape springs, serving as gripper fingers. The inherent stiffness of the unbent segment of the tape spring provides the necessary support for gripping forces, while the flexible, bent part (i.e., the fingertip) can be smoothly moved along the tape by altering the shape of the triangular appendage. Additionally, the springy tip permits a gentle pinch without causing damage.To achieve precise control, we have constructed models for both forward and inverse kinematics. These models facilitate the accurate positioning and control of the fingertip through the use of seven motors at the base. By initially determining the length of the already extended tape, we can locate the fingertip in a two-dimensional plane. The inverse kinematics model specifies the necessary extension or retraction of each side of the appendage to move the fingertip to a desired location. Furthermore, it can predict the fingertip's location using forward kinematics and data collected from each DYNAMIXEL motor. The key features of GRIP-tape include object gripping, translation in two modes, and rotation, making it a versatile and adaptable system for various applications. Additionally, by incorporating a load cell as the sensor at the base, we've expanded the utility of GRIP-tape to include automated tasks such as searching, measurement, and gripping.