Comparison of Different Technologies for Soft Robotics Grippers

Area of Science:

• Robotics
• Mechanical Engineering
• Materials Science

Background:

• Soft grippers are gaining interest due to their flexibility and ability to handle delicate objects, unlike traditional hard grippers.
• Their adaptability makes them suitable for a wide range of applications, incorporating novel materials and technologies.
• Soft grippers offer a robust alternative for object manipulation in various settings.

Purpose of the Study:

• To compare the performance of different soft robotic gripper technologies.
• To evaluate gripper performance under varied environmental conditions (normal, humid, dusty).
• To identify the most robust soft gripper design for diverse applications.

Main Methods:

• Fabrication and testing of four soft grippers: two pneumatic (chambered fingers, jamming) and two electromechanical (tendon driver, passive structure).
• Selection of twelve objects with diverse mechanical and geometrical properties for testing.
• Analysis of gripper performance across normal, humid, and dusty environments.

Main Results:

• The mechanical gripper with a passive structure exhibited enhanced robustness compared to other tested grippers.
• Performance variations were observed across different gripper types when handling objects with distinct properties.
• Environmental conditions influenced the operational effectiveness of the soft grippers.

Conclusions:

• The mechanical gripper with a passive structure is a highly robust solution for soft robotics.
• Comparative analysis provides valuable insights into selecting appropriate soft grippers for specific tasks and environments.
• Further research can explore material innovations and advanced actuation for improved soft gripper performance.