IROS 2015 Paper Abstract


Paper ThAP.45

Hao, Yufei (Beihang University), Zheyuan, Gong (Beihang University), Xie, ZheXin (Beijing University of Aeronautics and Astronautics), Ren, Ziyu (Beihang University), Guan, Shaoya (Beihang University), Wang, Tianmiao (Beihang University), Li, Wen (Beihang University)

Soft Robotic Gripper with Tunable Effective Length

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Soft-bodied Robots, Biologically-Inspired Robots, Biomimetics


In this study, we implemented a four-fingered soft robotic gripper with tunable effective length. This robotic model is made of pure soft materials and allows three working modes: 1) deflate the soft fingers for bending to one direction therefore to open the gripper “jaw”, 2) inflate the fingers with compressed air for bending to the reverse direction for gripping objects and 3) effective finger length can be altered while gripping different objects. Systematic tests of the gripping performance of the soft robotic model were conducted for 5 effective finger length ranging from 25mm to 105mm. Under each length condition, we measured the pull-off force of 8 sphere-shaped objects with diameters from 20 to 90mm, and five typical geometric shaped objects including centrum, cubic and cylinder etc. Notably, we found that each object with different size prefer a “sweet” effective finger length for generating maximum pull-off force. While grasping cubic-shaped objects, the maximum pull-off force is around 1.5 times over that of the sphere-shaped object. Current study show that tunable effective finger length for the soft robot can significantly improve the gripping performance. According to tests of gripping a number of objects, current soft robotic prototype exhibits a simple-control, low-cost approach of grasping objects with different size, weight, and shape as well as material stiffness, and may open up new avenues for future industrial gripping.



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