Design of soft adaptive grippers for autonomous remanufacturing

摘要

Motivated by the need for high flexibility in autonomous remanufacturing, this research investigates the effects of design variables on the gripping performance of Fin Ray® robotic fingers. Fin Ray® fingers are soft adaptive grippers that are structured like fish fins. They can bend passively in the opposite direction to the applied force to wrap around a target object, enabling a secure and flexible grip regardless of the object's shape. Five design variables are investigated: wall thickness, beam thickness, number of beams, angle of beams and the materials adopted in the fabrication of the gripper fingers. Numerical simulation based on finite element analysis was adopted in the investigation. The results of the research indicate a clear correlation between the five variables and the conformity of a Fin Ray® gripper. Such information can be used to guide the design of these grippers to improve both conformity and grasping force. [Submitted 9 September 2019; Accepted 10 December 2019]