A Multi-Curvature Soft Gripper Based on Segmented Variable Stiffness Structure Inspired by Snake Scales.

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Traditional soft grippers struggle with objects of varying shapes and stiffness.
• Existing designs often lack adaptability, limiting their stability and practical application in industrial settings.

Purpose of the Study:

• To design and develop an adaptable soft gripper finger with multi-curvature and variable stiffness control.
• To enhance gripper stability and usability for a wider range of object shapes.

Main Methods:

• Developed a novel finger design incorporating a wedge actuator and two variable stiffness units (VSUs) inspired by snake scales.
• Created a finite element model of the wedge actuator to analyze parameter influence on bending and force.
• Utilized explicit dynamic analysis to predict and experimentally validate VSU stiffness variation under vacuum pressure.

Main Results:

• The wedge actuator design parameters were optimized through orthogonal experiments for bending angle and tip output force.
• The variable stiffness units demonstrated reliable stiffness adjustment under operational vacuum pressure.
• The two-finger gripper successfully generated various clamping curvatures, conforming closely to objects.

Conclusions:

• The developed soft gripper exhibits effective shape control and variable stiffness adjustment.
• The gripper's ability to conform to objects significantly broadens its clamping range and applicability.
• This innovation offers a more versatile solution for grasping diverse objects in industrial environments.