A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling

• Published in: IEEE robotics and automation letters Vol. 2; no. 4; pp. 1909 - 1916
• Main Authors: Zhongkui Wang, Torigoe, Yuuki, Hirai, Shinichi
• Format: Journal Article
• Language: English
• Published: IEEE 01.10.2017
• Subjects: Actuators; Computational modeling; Connectors; Fabrication; Grasping; Grippers; grippers and other end-effectors; Robots; Soft material robotics

This study presented a prestressed soft gripper fabricated with 3-D printing technology. The gripper can realize a large contact area while grasping and simultaneously generate large initial opening without deflating the soft actuators. The soft actuator was 3-D printed as two separate parts: the so...