A Modular Soft Gripper with Combined Pneu-Net Actuators

Soft Pneumatic-Network (Pneu-Net) Actuators (SPAs) have been used extensively in making soft grippers, due to their simple driving forms and large bending deformation. However, the capabilities of regular SPAs complex gripping application environments are alone insufficient. This work, thus, proposes a modular gripper that combines functionalities herringbone actuators. The deformation characteristics two actuators under pneumatic pressures verified by finite element (FE) simulations experiments. functional investigated experimentally through series methods including blocking force test, lifting grasping strength suction test. experimental results show actuator has advantages greater longitudinal higher force; while, better stability its conformal deformations both transverse directions. In addition, vacuum experiments demonstrate can lift heavy plate-like objects suction. Based on behaviors actuators, proposed is loaded onto automatic equipment, tested hook, grasp, or various with different shapes, sizes, weights. essence, multi-functional design make it promising candidate for relatively advanced applications.