A1 Journal article (refereed), original research

A novel simple, adaptive and versatile soft-robotic compliant two-finger gripper with an inherently gentle touch

Open Access publication

Publication Details
Authors: Milojević Andrija, Linß Sebastian, Ćojbašić Žarko, Handroos Heikki
Publication year: 2020
Language: English
Related Journal or Series Information: Journal of Mechanisms and Robotics
Volume number: 13
Issue number: 1
ISSN: 1942-4302
eISSN: 1942-4310
JUFO-Level of this publication: 2
Open Access: Open Access publication
Location of the parallel saved publication: http://urn.fi/URN:NBN:fi-fe2020101684268


In soft robotics there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness and weight without the use of sensors or vision. Various, mostly complex grippers already exist based on certain actuation concepts. However, each solution has specific limitations, especially regarding gripping different soft and delicate objects. Therefore, this paper introduces a new approach to design a simple, adaptive and versatile soft robotic two-finger gripper that is based on compliant mechanisms. More specifically, an inherently gentle touch is realized by utilizing an optimally synthesized mechanism with distributed compliance in combination with a conventional linear actuator. It is shown by FEM simulations that the gripper realizes a high force and motion transmission at the same time. Furthermore, it is demonstrated by tests with a gripper prototype that reliable, safe, and fast grasping as well as manipulation are possible for a wide variety of objects. It is shown that beside regular and stiff objects also very challenging objects can be easily gripped, e.g. small, irregular, soft, and squeezable objects like fruits, berries and vegetables. Moreover, it is confirmed that the developed compliant two-finger gripper can be used beneficially without sensors and control for differently sized and shaped objects with a comparable weight.

Last updated on 2020-30-11 at 10:45

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