Design Analysis of a Fabric Based Lightweight Robotic Gripper
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Published version
Embargoed until: 5555-01-01
Embargoed until: 5555-01-01
Volume
11649 LNAI
Pagination
16 - 27
ISBN-13
9783030238063
DOI
10.1007/978-3-030-23807-0_2
ISSN
0302-9743
Metadata
Show full item recordAbstract
The development of grasping mechanisms for various grasping applications have enabled robots to perform a wide variety of tasks in both industrial as well as domestic applications. Soft robotic grippers have been very useful in grasping applications with an added advantage of simpler control mechanisms as compared to rigid grippers. In this paper, a two fingered gripper inspired by the fingers of a human hand is introduced. The gripper is made from fabrics and, hence, compliant, lightweight, completely foldable and boasts a high payload capability. The mechanical design of the gripper is optimized through experiments, a maximum bending angle of 180° is achieved. We demonstrate grasping of a variety of objects using the new gripper.