Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 1, Pages 146-155Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3005782
Keywords
Grasping; Grippers; Force; Fingers; Reliability; Actuators; Dual-module pneumatic actuator; enveloping and pinching grasp; variable chamber height; vertically plane contact
Categories
Funding
- National Natural Science Foundation of China [51675376, 51675371, 51675367]
- National Key R&D Program of China [2019YFB1301902, 2017YFB1104700, 2017YFE0112100]
- Science and Technology Commission of Tianjin Municipality [19PTZWHZ00010, 18PTZWHZ00160]
- China-EU H2020 MNR4SCell [734174]
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This article introduces a novel two-finger soft-robotic gripper with enveloping grasping and pinching grasping modes. Experimental results demonstrate that the gripper can reliably grasp objects of various shapes and sizes, especially small and fragile objects.
This article presents a two-finger soft-robotic gripper with enveloping grasping (EG) and pinching grasping (PG) modes. The proposed soft-robotic gripper is based on a two-finger design that combines two dual-module pneumatic actuators with a variable chamber height (DMVCHA). The prototype of the DMVCHA has been fabricated by molding of silicone rubber. In the PG mode, the high passive compliance of the DMVCHA allows large contact area and realizes a vertically plane contact with the object, which improves the grasping reliability and is suitable for grasping objects with a small and medium size. In the EG mode, the DMVCHA becomes the pneumatic network actuator (PneuNet) with a variable chamber height, which provides greater grasping force and is suitable for grasping objects with larger and hollow size. Compared with the traditional PneuNets, the DMVCHA has a greater output force. The bending angle and output force of actuators with different structures have been analyzed by finite-element analysis. The grasping performance of the proposed and universal soft grippers is studied by experiments. The result shows that with only two fingers, the gripper can reliably grasp objects with various shapes and volume, especially small and fragile objects.
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