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Three-Chamber Actuated Humanoid Joint-Inspired Soft Gripper: Design, Modeling, and Experimental Validation.

Yinlong Zhu1, Qin Bao1, Hu Zhao1

  • 1College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China.

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Summary

This study introduces a novel humanoid hand-inspired soft gripper with independently actuated joints. This advanced soft gripper significantly expands grasping range and quadruples grasping force compared to traditional designs.

Keywords:
bending characteristicsfinite element simulationhumanoid joint actuatorsoft gripper

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Traditional soft grippers face limitations like constant curvature and restricted motion.
  • Human hand structure offers superior dexterity and flexibility for grasping.

Purpose of the Study:

  • To design and evaluate a humanoid hand-inspired soft gripper overcoming limitations of single-chamber designs.
  • To enhance grasping range, flexibility, and fingertip force through biomimetic design.

Main Methods:

  • Developed a three-finger soft gripper with independently actuated soft joints and phalanges.
  • Utilized a composite constraint layer (PDMS/PTFE) for enhanced stiffness and load capacity.
  • Established nonlinear mathematical and D-H kinematic models; performed FEA simulations (ABAQUS).

Main Results:

  • Experimental and simulation results showed good agreement.
  • Achieved a maximum fingertip force of 2.21 N.
  • Demonstrated a four-fold increase in grasping force and a maximum grasp weight of 0.92 kg.

Conclusions:

  • The humanoid joint-inspired soft gripper offers superior grasping performance and expanded capabilities.
  • The design shows significant potential for practical applications requiring versatile and robust grasping.