A Pneumatic Novel Combined Soft Robotic Gripper with High Load Capacity and Large Grasping Range

夹持器 执行机构 气动执行机构 有限元法 机械工程 软机器人 Lift(数据挖掘) 航程(航空) 材料科学 控制理论(社会学) 工程类 计算机科学 结构工程 复合材料 人工智能 数据挖掘 控制(管理)
作者
Dan Wang,Xiaojun Wu,Jinhua Zhang,Yangyang Du
出处
期刊:Actuators [MDPI AG]
卷期号:11 (1): 3-3 被引量:5
标识
DOI:10.3390/act11010003
摘要

Pneumatic soft grippers have been widely studied. However, the structures and material properties of existing pneumatic soft grippers limit their load capacity and manipulation range. In this article, inspired by sea lampreys, we present a pneumatic novel combined soft gripper to achieve a high load capacity and a large grasping range. This soft gripper consists of a cylindrical soft actuator and a detachable sucker. Three internal air chambers of the cylindrical soft actuator are inflated, which enables them to hold objects. Under vacuum pressure, the cylindrical soft actuator and the detachable sucker can both adsorb objects. A finite element model was constructed to simulate three inflation chambers for predicting the grasping range of the cylindrical soft actuator. The validity of the finite element model was established by an experiment. The mechanism of holding force and adsorption force were analyzed. Several groups of experiments were conducted to determine adsorption range, holding force, and adsorption force. In addition, practical applications further indicated that the novel combined soft gripper has a high load capacity (10.85 kg) at a low pressure (16 kPa) and a large grasping range (minimum diameter of the object: d = 6 mm), being able to lift a variety of objects with different weights, material properties, and shapes.
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