Innovative development of a soft robotic gripper: mathematical modeling and grasping capability analysis

• Trinh Xuan Hiep ^[1] ; Chu Anh My ^[3] ; Phung Van Binh ^[1] ; Le Chi Hieu ^[2]
  1. [1] Le Quy Don Technical University

     Le Quy Don Technical University

     Vietnam

     
  2. [2] University of Greenwich

     University of Greenwich

     Reino Unido

     
  3. [3] Institute of Simulation Technology, Le Quy Don Technical University, Hanoi, Vietnam

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• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 52, Nº. 8, 2024, págs. 4991-5018
• Idioma: inglés
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• Resumen

  • Recently, most soft grippers rely on complex mechanisms or complicated structures, leading to challenging fabrication and mathematical modeling. This study presents an innovative soft-fingered gripper design with an asymmetric tube that has a variable cross-section, providing a simple yet effective solution for gripping tasks. The proposed mathematical modeling and solutions were successfully developed and experimentally validated to analyze the effects of the robot arm’s motion on the gripping capability of the gripper. This innovation represents an improvement over existing designs and has the potential to enhance the design and efficient performance of soft robotic grippers.