Universally Grasping Objects with Granular-Tendon Finger: Principle and Design

Area of Science:

• Robotics
• Mechanical Engineering
• Materials Science

Background:

• Stable grasping in robotics is crucial for automation.
• Current grippers often struggle with diverse object shapes and materials.
• Soft interactions are increasingly important for delicate object manipulation.

Purpose of the Study:

• To introduce a novel robotic gripper design for universal object grasping.
• To investigate the effectiveness of a hybrid mechanism combining soft structures and skeletal support.
• To evaluate the gripper's performance across a wide range of object types and properties.

Main Methods:

• Designed a novel gripper featuring a hybrid mechanism with granular pouches on finger skeletons.
• Conducted experiments using fifteen distinct object types (e.g., cylinders, spheres, irregular shapes).
• Assessed gripper performance based on success rates for objects up to 210g.

Main Results:

• The granular-tendon gripper demonstrated high success rates for objects under 210g.
• The hybrid design successfully adapted to various object shapes and material properties.
• The gripper provided both stability through skeletal support and adaptability via soft granular pouches.

Conclusions:

• The developed gripper offers a promising solution for versatile robotic manipulation.
• The hybrid design enables stable and soft grasping, accommodating object variability.
• This approach enhances robotic capabilities in handling diverse items.