Abstract
Robot gripper is used in many different places at present, but traditional gripper is difficult to grasp and sort soft and fragile fruits and vegetables effectively. Based on manipulator technology, this paper presents a design scheme of pneumatic multi-fingered gripper. This design combines the vacuum chunk and soft fingers to make the gripper precisely grasp the target object without damaging the surface of the object. The flexible fingers can be made quickly by using a compound injection molding method. Combined with the STM32 microcontroller and the Universal Robots 5 (UR Arm), the operation system of the soft gripper is realized, and the man-machine interaction presents a good performance. Through the grasping experiment, it is proved that the prototype can grasp, transport, and place soft and fragile objects stably and accurately. Overall, this design implements the combination of pneumatic unit and soft gripper, and provides a new orientation to the research of soft robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Zhang, J., Wang, T., Hong, J.: Overview of soft manipulator research. J. Mech. Eng. 13(53), 19–28 (2017)
Xiao, Y.: Design and experimental research of pneumatic soft manipulator. Southeast University (2016)
Zhang, L., Bao, G.J., Yang, Y.: Research progress of soft manipulator claw in fruit and vegetable picking. Trans. Chinese Soc. Agric. Eng. 09(34), 11–20 (2018)
Krahn, J., Fabbro, F., Menon, C.: A soft-touch gripper for grasping delicate objects. IEEE/ASME Trans. Mechatron. 22, 1276 (2017)
Xu, M.X.: Research on pneumatic drive software clamping device. Nanjing University of Science and Technology (2015)
Diemel, R., Brock, O.: A novel type of compliant and underactuated robotic hand for dexterous grasping. Int. J. Robot. Res. 1-3(35), 161–185 (2016)
Zhang, X.J., Tang, S.Y., Jiang, H.: Research status and key technologies of 3D printing technology. J. Mater. Eng. 02(44), 122–128 (2016)
Cianchetti, M., Ranzani, T., Gerboni, G.: Soft robotics technologies to address shortcomings in today’s minimally invasive surgery: the STIFF-FLOP approach. Soft Robot. 2(1), 122–131 (2014)
Connolly, F., Walsh, C.J., Bertoldi, K.: Automatic design of fiber-reinforced soft actuators for trajectory matching. In: Proceedings of the National Academy of Sciences of the United States of America, vol. 1, no. 114, pp. 224–228 (2017)
Wei, S.J., Wang, T.Y., Gu, G.Y.: Design of pneumatic soft grip based on fiber reinforced actuator. J. Mech. Eng. 13(53), 29–38 (2017)
Miao, D.Y., Zhou, X., Zhang, Z.W.: Design of vacuum sucker type multi-function grab device. Packaging Food Mach. 06(34), 39–42 (2016)
Mosadegh, B., Polygerinos, P., Keplinger, C.: Pneumatic networks for soft robotics that actuate rapidly. Adv. Func. Mater. 15(24), 45–48 (2014)
Rus, D., Tolley, M.T.: Design, fabrication, and control of soft robots. Nature 7553(521), 453–457 (2015)
Acknowledgement
The authors are grateful for the support by the Major Project of the New Generation of Artificial Intelligence (No. 2018AAA0102900), the National Natural Science Foun- dation of China (No. 61803267, U1613212). The authors are grateful for the support of Young Teachers Scientific Research Project of Shenzhen University.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2021 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Huang, H., Liang, X., Zhuo, Y., Wu, L., Wen, Z., Sun, F. (2021). Design and Implementation of Pneumatic Soft Gripper with Suction and Grasp Composite Structure. In: Sun, F., Liu, H., Fang, B. (eds) Cognitive Systems and Signal Processing. ICCSIP 2020. Communications in Computer and Information Science, vol 1397. Springer, Singapore. https://doi.org/10.1007/978-981-16-2336-3_25
Download citation
DOI: https://doi.org/10.1007/978-981-16-2336-3_25
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-16-2335-6
Online ISBN: 978-981-16-2336-3
eBook Packages: Computer ScienceComputer Science (R0)