Most existing soft grippers that rely on bending for grasping often need to squeeze objects to achieve a certain grasping force, which will potentially cause damage to objects especially those delicate and fragile. To solve this problem, a three-branch soft gripper design is proposed, which employs simple actuation but has excellent adaptive and dexterous grasping capabilities. In this paper, structure design will first be introduced in detail. Then, the force of the finger and the contact relationship with the object are analyzed by finite element modeling method. Finally, the pressure sensor is used to obtain the grasping force during grasping process. Furthermore, the grasping performance tests are conducted. Experiment results show that the proposed three-branch soft gripper shows remarkable ability on grasping objects of various shapes, sizes and delicacy.


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    Title :

    Design and Grasping Experiments of a Three-Branch Dexterous Soft Gripper


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Li, Weihao (author) / Guo, Yonghua (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    10 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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