Soft grippers due to their highly compliant material and self-adaptive structures attract more attention to safe and versatile grasping tasks compared to traditional rigid grippers.However,those flexible characteristi...Soft grippers due to their highly compliant material and self-adaptive structures attract more attention to safe and versatile grasping tasks compared to traditional rigid grippers.However,those flexible characteristics limit the strength and the manipulation capacity of soft grippers.In this paper,we introduce a hybrid-driven gripper design utilizing origami finger structures,to offer adjustable finger stiffness and variable grasping range.This gripper is actuated via pneumatic and cables,which allows the origami structure to be controlled precisely for contraction and extension,thus achieving different finger lengths and stiffness by adjusting the cable lengths and the input pressure.A kinematic model of the origami finger is further developed,enabling precise control of its bending angle for effective grasping of diverse objects and facilitating in-hand manipulation.Our proposed design method enriches the field of soft grippers,offering a simple yet effective approach to achieve safe,powerful,and highly adaptive grasping and in-hand manipulation capabilities.展开更多
基金supported by the National Key Research and Development Program of China under Grant 2022YFB4701204the Natural Science Foundation of China under Grants 52205031,52305013,and 52022056.
文摘Soft grippers due to their highly compliant material and self-adaptive structures attract more attention to safe and versatile grasping tasks compared to traditional rigid grippers.However,those flexible characteristics limit the strength and the manipulation capacity of soft grippers.In this paper,we introduce a hybrid-driven gripper design utilizing origami finger structures,to offer adjustable finger stiffness and variable grasping range.This gripper is actuated via pneumatic and cables,which allows the origami structure to be controlled precisely for contraction and extension,thus achieving different finger lengths and stiffness by adjusting the cable lengths and the input pressure.A kinematic model of the origami finger is further developed,enabling precise control of its bending angle for effective grasping of diverse objects and facilitating in-hand manipulation.Our proposed design method enriches the field of soft grippers,offering a simple yet effective approach to achieve safe,powerful,and highly adaptive grasping and in-hand manipulation capabilities.
