Biokinetics in robotics: Design and development of gripping systems inspired by the octopus
DOI:
https://doi.org/10.61117/ipsumtec.v9i2.472Keywords:
Controlers, CNC, drivers, engines, octopusAbstract
A research and implementation of a theoretical prototype developed in research centers was carried out. The project was derived from collecting different proposed models, most of them theoretical since the implementation hadn’t been carried out due to a wide range of difficulties such as lack of resources. First, information regarding the octopus was gathered, focusing on how the tentacles work, which was what we wanted to replicate in the prototype. Some things had to be improved during the development process; a clear example was the improvement of the three pulleys used for the contraction mechanism that acts on specific points of the arm. Finally, the results obtained were satisfactory since the movement and handling of heavy objects could be done without overloading the arm’s motors, giving us a good grip and range of flexibility. An analysis was done of the materials that could improve the prototype, such as motors with higher performance than the ones used.
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