Design, Fabrication, and Performance Test of a New Type of Soft-Robotic Gripper for Grasping

摘要

This investigation presents a novel soft-robotic pneumatic gripper that consists of three newly proposed soft actuators. The newly proposed soft actuators adopt a composite structure of two kinds of pneumatic networks which can work independently and play their respective roles in grasping. The design, analyses, and fabrication of the proposed soft actuators are introduced systematically, and then an experimental system is built to examine the output characteristics of the soft actuator. Compared with the conventional single pneumatic network-based soft actuator, the newly proposed one combines the advantages of the two pneumatic networks, and it employs a larger output force and retains desired bending deformation ability at the same time. The grasping performance test results show that the new soft gripper constituted by the proposed soft actuators has high reliability and stability whether in pinching or in enveloping grasping, and it is also competent for grasping heavier or irregular objects, demonstrating the feasibility and effectiveness of the newly proposed soft actuator, and giving it a good and wide application prospect.