Design of Lightweight and Tough Active Enveloping Soft Gripper
To address the issues of high stiffness,poor safety,and limited applicability of traditional rigid grippers,a lightweight and tough active enveloping soft gripper was proposed.The gripper consists of a fixed platform and three soft fingers.The dimensions of fingers were designed with reference to the actual size of a human fingers and the function of the palm when grasping objects.The soft gripper was processed and produces by traditional silicone deposition casting,3D printing and other techniques,and pneumatic driven was adopted.Finite element analysis based on the Yeoh model was carried out to simulate and analyze the deformation of the designed soft gripper.Finally,bending and grasping performance of the lightweight and tough active enveloping soft gripper was tested.Experimental results indicate that each individual soft finger can achieve the predetermined bending angle within a confined space under pneumatic pressure.At 60 kPa pressure,the fingers reach the maximum deformation limit position with a fingertip contact force of 1.12 N.Grasping experiments demonstrate that the lightweight and flexible active enveloping soft gripper exhibits excellent enveloping and bearing capabilities.It not only performs well in gripping regular rigid objects but also exhibits effective grasping for irregular objects and soft objects.
soft gripperflexibilitydeposition castingenvelopingYeoh model
万方数据
维普
