An Enveloping Soft Gripper With High-Load Carrying Capacity: Design, Characterization and Application

Sui, Dongbao; Wang, Tianshuo; Zhao, Sikai; Zhang, Xuehe; Zhao, Jie; Zhu, Yanhe

doi:10.1109/lra.2021.3126907

Cited by 9 publications

(8 citation statements)

References 22 publications

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“…As mentioned in the introduction, SPAs with specific pneumatic channel designs can also function as tentacle, [13,14] finger, [100][101][102][103][104] hand, [102] and envelope [17] grippers. These actuators are activated by inflating selected channels, causing them to flex in the opposite direction of the channel location [103,104] (Figures 5e,f ).…”

Section: Target Channel Designmentioning

confidence: 99%

“…Enveloping soft gripper [17] 210 T ripstop nylon 0-32 kPa 60 N Weight, wire, screw, hair, child model.…”

Section: Low Output Forcementioning

confidence: 99%

Section: Soft Robotic Actuators and Designmentioning

confidence: 99%

“…For instance, multiple actuators can be combined into a gripper, as single soft actuators can lift weights successfully but may struggle to grasp objects [15] unless they possess the ability to twist and hold objects like a tentacle. [13,14] In contrast, envelope actuators [16][17][18] offer the advantage of a large contact area by enclosing objects within their body, eliminating the need for complex energy input strategies. Additionally, finger structure actuators have been designed to mimic human grasping actions, enabling various tasks ranging from simple bending and grasping [19,20] to in-hand manipulation.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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Advances in material sciences, control algorithms, and manufacturing techniques have facilitated rapid progress in soft grippers, propelling their adoption in various fields. In this review article, a comprehensive overview of the design and control aspects of intelligent soft robotic grippers tailored specifically for agricultural product handling is provided. Soft grippers have emerged as a promising solution for handling delicate and fragile objects. In this article, the recent progress in various gripper design, including fluidic and mechanical grippers, is elucidated and the role of advanced control approaches in enabling intelligent functions, such as object classification and grasping condition evaluation, is explored. Moreover, the challenges and opportunities pertaining to implementation of soft grippers in the agricultural industry are thoroughly discussed. While most demonstrations of soft grippers and their control strategies remain at the experimental stage, in this article, it is aimed to provide insights into the potential applications of soft grippers in agricultural product handling, thereby inspiring future research in this field.

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Section: Target Channel Designmentioning

confidence: 99%

“…Enveloping soft gripper [17] 210 T ripstop nylon 0-32 kPa 60 N Weight, wire, screw, hair, child model.…”

Section: Low Output Forcementioning

confidence: 99%

Section: Soft Robotic Actuators and Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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“…Among them, an elastomer actuator featuring a gecko-inspired adsorption structure on its surface [19] possesses a load capacity of 110 N. These grippers increase the load capacity by adsorption in addition to the grasping by wrapping. Grippers that expand inward to envelop and grasp an object can increase the load capacity by increasing the contact area [20] [21] [22]. Among them, the large enveloping gripper can rescue a child doll and can grasp an object of 539 N [22].…”

Section: Introductionmentioning

confidence: 99%

Vine-Like, Power Soft Gripper Based on Euler's Belt Theory

Kodama,

Ide,

Yunhao

et al. 2024

IEEE Robot. Autom. Lett.

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Soft robots hold the potential for use in disaster sites where it is difficult to predict the external environment and the manipulation of irregularly shaped heavy objects is required. However, existing soft robots possess the low load capacity. Therefore, we propose a vine-like, power soft gripper that grasps an object by wrapping it, and we fabricated a prototype. The gripper is based on Euler's belt theory, the load capacity increases with the wrap angle and it is demonstrated by load capacity measurements. A grasping experiment demonstrated that the gripper could grasp objects of various shapes. This gripper wraps around an object using the restoring force exerted by the constant-force spring. Hence, the gripper cannot lift heavy objects that tend to rotate during lifting. However, it was confirmed that a twin-gripper with opposite helical directions could grasp such objects. It was also confirmed that twin-gripper could grasp an object weighing 1660 N although its two constant-force springs possess a small load of 43 N. This indicates that the grasping load force surpassed that generated by the spring coiling force. Finally, the gripper was attached to a construction machine robot, and a pick-and-place demonstration was conducted.

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