Tube-feet Inspired Soft Gripper

9th Thai Society of Mechanical Engineers, International Conference on Mechanical Engineering

Jittungboonya, Pasit^1 ; Maneewan, Thavida^1

Institute of Field RoBotic, King Mongkut's University of Technology, Thonburi Bangkok

10140, Thailand^1

关键词: Air chambers;    Complex shapes;    Deformable object;    Pneumatic actuation;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/501/1/012048/pdf
DOI  :  10.1088/1757-899X/501/1/012048

来源: IOP

【 摘 要 】

Soft gripper can grasp various types of objects even deformable objects or complex shapes. In this work, the design of a soft gripper is inspired by a tube foot of a starfish. Tube foot can deform in multiple directions. The proposed gripper has three soft silicone fingers which are driven by pneumatic actuation. Each finger can be curved in 6 directions using a three sided air chamber. This gripper can be controlled by a binary command into four states: home, open, close and twist. The tube feet inspired soft gripper was developed, modelled and tested.