Design and Development of Underactuated Soft Robotic Gripper for Space Applications

摘要

The current study describes a two-fingered soft robotic grasper for handling objects of varying sizes, and materials, including soft and fragile objects. The grasper's design uses compliance and underactuation to efficiently adapt its shape to the object's shape without requiring active position control. This study follows a previously presented work on the Grasper's kinematic feasibility. Further, static structural analysis is performed to analyze the launch loads experienced by the grasper model and validate its structural design. Moreover, the modal analysis has been conducted to determine the frequency of the grasper and study the mode shapes, and examine the critical modes.