A Novel Pneumatic Soft Gripper with a Jointed Endoskeleton Structure

查看全文 作　　者：Zhaoping [1]Wu;Xiaoning [1]Li;Zhonghua [1]Guo

机构地区：[1]School of Mechanical Engineering, Nanjing University of Science and Technology

出　　处：《Chinese Journal of Mechanical Engineering》索引2019年第32卷第5期,共12页

基　　金：Supported by National Natural Science Foundation of China(Grant No.51305202);Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20130764) 摘　　要：In current research on soft grippers,pneumatically actuated soft grippers are generally fabricated using fully soft materials,which have the advantage of flexibility as well as the disadvantages of a small gripping force and slow response speed.To improve these characteristics,a novel pneumatic soft gripper with a jointed endoskeleton structure(E-Gripper)is developed,in which the muscle actuating function has been separated from the force bearing function.The soft action of an E-Gripper finger is performed by some air chambers surrounded by multilayer rubber embedded in the restraining fiber.The gripping force is borne and transferred by the rigid endoskeleton within the E-Gripper finger Thus,the gripping force and action response speed can be increased while the flexibility is maintained.Through experiments,the bending angle of each finger segment,response time,and gripping force of the E-Gripper have been measured,which provides a basis for designing and controlling the soft gripper The test results have shown that the maximum gripping force of the E-Gripper can be 35 N,which is three times greater than that of a fully soft gripper(FS-Gripper)of the same size.At the maximum charging pressure of 150 kPa,the response time is1.123 s faster than that of the FS-Gripper.The research results indicate that the flexibility of a pneumatic soft gripper is not only maintained in the case of the E-Gripper,but its gripping force is also obviously increased,and the response time is reduced.The E-Gripper thus shows great potential for future development and applications. 关键词：SOFT GRIPPER Jointed endoskeleton Gripping FORCE

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A Novel Pneumatic Soft Gripper with a Jointed Endoskeleton Structure

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