Design and Test of an Active Pneumatic Soft Wrist for Soft Grippers

An active wrist can deliver both bending and twisting motions that are essential for soft grippers to perform dexterous manipulations capable of producing a wide range movements. Currently, the versions gripper wrists relatively heavy due performed by motors. Pneumatic actuators generate multiple with lightweight drives. This research evaluates pneumatic based on four parallel helical actuators. The kinematics models predicting this developed. Finite element method simulations conducted verify functions wrist. In addition, experimentally demonstrated. Based sensitivity studies geometric parameters, set parameter values identified obtaining maximum angles bionic human Through simulation experimental tests gripper, desired as those real hand established.