The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Pneumatic Grasp-and-Suction Soft Gripper with Variable Stroke

파지와 흡착이 가능한 가변 스트로크 공압 소프트 그리퍼

  • Received : 2024.04.18
  • Accepted : 2024.07.17
  • Published : 2024.08.30
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Abstract

With the recent emergence of collaborative robots, demand for grippers to be used in service sites is increasing. Soft grippers have advantages in terms of compliance, cost, weight, and stability, but it is difficult to handle objects of various shapes, sizes, and weights with a single gripper. In this study, based on a fluidic elastomer actuator (FEA), we propose a pneumatic soft gripper that can grip a variety of objects, consisting of fingers capable of both grasping and vacuum suction and a base with variable stroke between the fingers using a pneumatic cylinder. A check valve is installed inside the finger, so that when positive pressure is supplied, the finger expands to perform adaptive grasping, and when negative pressure is supplied, vacuum suction can be performed. Grasping experiments were conducted on various objects to evaluate the performance of the proposed gripper, and 94% of 54 gripping objects were successfully grasped.

Keywords

Acknowledgement

This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20015198).

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