파지와 흡착이 가능한 가변 스트로크 공압 소프트 그리퍼

다국어 초록 (Multilingual Abstract)

With the recent emergence of collaborative robots, demand for grippers to be used in service sites is increasing. Soft grippers have advantages in terms of compliance, cost, weight, and stability, but it is difficult to handle objects of various shapes, sizes, and weights with a single gripper. In this study, based on a fluidic elastomer actuator (FEA), we propose a pneumatic soft gripper that can grip a variety of objects, consisting of fingers capable of both grasping and vacuum suction and a base with variable stroke between the fingers using a pneumatic cylinder. A check valve is installed inside the finger, so that when positive pressure is supplied, the finger expands to perform adaptive grasping, and when negative pressure is supplied, vacuum suction can be performed. Grasping experiments were conducted on various objects to evaluate the performance of the proposed gripper, and 94% of 54 gripping objects were successfully grasped.