Modeling and analysis of a passively adaptive soft gripper with the bio-inspired compliant mechanism
Similar to the end effectors for traditional rigid robots, those for soft robots are essential as
the interacting media between the robots and their environments. Inspired by the forelegs of
climbing animals, a passively adaptive soft gripper (ASG), with six claws and a compliant mechanism,
is developed for grasping objects and attaching to rough surfaces. The design method, grasp
adaptability, form closure, and force equilibrium of the ASG are presented and analyzed in this
paper. Due to the compliance at each claw root, the ASG possesses a high passive adaption to various
objects. With sharp hooks, a form closure may be achieved easily when the ASG grasps rough objects
with structured or unstructured shapes. The ASG grasping an object constitutes an under-actuated
system, the solution to which is difficult to obtain. The Monte Carlo method is suggested to achieve
effective solutions for such systems, and the in-hull rate is proposed to evaluate the difficulty of
finding soluti...
Source: Bioinspiration and Biomimetics - Category: Science Authors: Manjia Su, Yisheng Guan, Dongyu Huang and Haifei Zhu Source Type: research
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