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.
Design and Grasping Experiments of a Three-Branch Dexterous Soft Gripper
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
10 pages
Article/Chapter (Book)
Electronic Resource
English
Soft Gripper , Dexterous Grasping , Finite Element Modeling , Grasping Performance Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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