The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports
Soft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential applications in industry, agriculture, and healthcare. However, soft grippers rarely carry heavy and dense objects due to the intrinsic low modulus of soft materials in nature. This paper designed a soft robot...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Applied System Innovation |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2571-5577/7/1/15 |
| _version_ | 1797298959963652096 |
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| author | Zhikang Peng Dongli Liu Xiaoyun Song Meihua Wang Yiwen Rao Yanjie Guo Jun Peng |
| author_facet | Zhikang Peng Dongli Liu Xiaoyun Song Meihua Wang Yiwen Rao Yanjie Guo Jun Peng |
| author_sort | Zhikang Peng |
| collection | DOAJ |
| description | Soft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential applications in industry, agriculture, and healthcare. However, soft grippers rarely carry heavy and dense objects due to the intrinsic low modulus of soft materials in nature. This paper designed a soft robotic gripper with rigid supports to enhance lifting force by 150 ± 20% in comparison with that of the same gripper without supports, which successfully lifted a metallic wrench (672 g). The soft gripper also achieves excellent adaptivity for irregularly shaped objects. The design, fabrication, and performance of soft grippers with rigid supports are discussed in this paper. |
| first_indexed | 2024-03-07T22:42:38Z |
| format | Article |
| id | doaj.art-60bd088616eb42f88562d3a9c2902ba0 |
| institution | Directory Open Access Journal |
| issn | 2571-5577 |
| language | English |
| last_indexed | 2024-03-07T22:42:38Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied System Innovation |
| spelling | doaj.art-60bd088616eb42f88562d3a9c2902ba02024-02-23T15:06:58ZengMDPI AGApplied System Innovation2571-55772024-02-01711510.3390/asi7010015The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid SupportsZhikang Peng0Dongli Liu1Xiaoyun Song2Meihua Wang3Yiwen Rao4Yanjie Guo5Jun Peng6School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSchool of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaSoft pneumatic grippers can grasp soft or irregularly shaped objects, indicating potential applications in industry, agriculture, and healthcare. However, soft grippers rarely carry heavy and dense objects due to the intrinsic low modulus of soft materials in nature. This paper designed a soft robotic gripper with rigid supports to enhance lifting force by 150 ± 20% in comparison with that of the same gripper without supports, which successfully lifted a metallic wrench (672 g). The soft gripper also achieves excellent adaptivity for irregularly shaped objects. The design, fabrication, and performance of soft grippers with rigid supports are discussed in this paper.https://www.mdpi.com/2571-5577/7/1/15soft robotic grippervariable hardnessrigid supportsadaptive grasping |
| spellingShingle | Zhikang Peng Dongli Liu Xiaoyun Song Meihua Wang Yiwen Rao Yanjie Guo Jun Peng The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports Applied System Innovation soft robotic gripper variable hardness rigid supports adaptive grasping |
| title | The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports |
| title_full | The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports |
| title_fullStr | The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports |
| title_full_unstemmed | The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports |
| title_short | The Enhanced Adaptive Grasping of a Soft Robotic Gripper Using Rigid Supports |
| title_sort | enhanced adaptive grasping of a soft robotic gripper using rigid supports |
| topic | soft robotic gripper variable hardness rigid supports adaptive grasping |
| url | https://www.mdpi.com/2571-5577/7/1/15 |
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