Design and manufacture the structure of an inner grasper on a soft gripper

摘要

The main structural element of the soft gripper consists of a push-pull structure called an inner grasper to optimize the gripping performance of objects on the device. An inner grasper is essential for a robot arm to grab an object from one position to the other. This grasper technique utilizes the soft gripper's existing inside plane push. The material characteristics and elements structure of the device provide upright grasping performance. The aim of this study is to design a structural mechanism and use an elastomeric material to obtain the elasticity behaviour of this inner grasper’s characteristics. The device models were created by casting elastomeric material on a 3D printer and were molded in the bottom and top cavities. FEM was used to analyse the deformation of this inner grasper coupled with a soft gripper. The experiment was carried out using an inner grasper design installed on an existing soft gripper to measure the ability to flexibly and grip objects. Therefore, after analysing the deformation behaviour of this gripper, the results have shown virtuous comparison with real-grabbing experiments.