2024
DOI: 10.1109/lra.2024.3365268
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Vine-Like, Power Soft Gripper Based on Euler's Belt Theory

Hiroto Kodama,
Tohru Ide,
Feng Yunhao
et al.

Abstract: 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.… Show more

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