Abstract
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.
This work was supported in part by the National Key R&D Program of China under Grant 2022YFB4703103, the National Natural Science Foundation of China under Grant 62103454, the Guangdong Basic and Applied Basic Research Foundation under Grant 2019A1515110680, the Shenzhen Municipal Basic Research Project for Natural Science Foundation under Grant JCYJ20190806143408992, and the Shenzhen Science and Technology Program under Grant JCYJ20220530150006014.
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Li, W., Guo, Y., Han, Y., Peng, J. (2023). Design and Grasping Experiments of a Three-Branch Dexterous Soft Gripper. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_3
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DOI: https://doi.org/10.1007/978-981-99-6492-5_3
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