Design and Manufacture of an Rigid-Soften Composite Soft Pneumatic Robotic Gripper
For the current soft finger gripper,when the object is grasped in the horizontal direction,the lateral shape variable is large and the load is small,a new scheme of adding elastic steel plate to it is proposed.New single finger design and physical pro-duction,two fingers gripper design and physical production are respectively carried out.A micro pneumatic controller is designed,A simple test platform was built,and the pressure-load experiment and a load-tilt experiment were conducted on two kinds of two-fingered grippers by picking up the glasses of three specifications.Control results showed that:The scheme proposed in this pa-per greatly improves the lateral force,reduces the lateral shape of fingers,improves the load capacity and achieves good results.
万方数据
维普
