Design, Modelling and Simulation of Soft Grippers Using New Bimorph Pneumatic Bending Actuators

Samenvatting

Soft compliant grasping is essential in delicate manipulation tasks typi- cally required in manufacturing and/or medical ap
plications to prevent stress concentration at the point of contact. In comparison with their rigid counterparts, the intrinsic 
compliance of soft grippers offers simpler control and planning of the grasping action, especially where robots are faced with 
a number of objects varying in shape and size. However, quantitative analysis is rarely utilized in the design and fabrication of 
soft grippers, due to the fact that significant and complex deforma- tion occurs once the soft gripper is in contact with external 
objects. In this paper, we demonstrate the design of a soft gripper using our novel bimorph-like pneumatic bending actuators. 
The gripper was modelled through finite element analysis to reflect its gripping capability during interaction with certain target
ed objects. The proposed systematic design and analytical model was validated via experiments. The system’s gripping capability 
was evaluated with objects of different weight and dimension. In addition, compliance testing has proved that the proposed soft 
grip- per is able to grip objects of 60 g from the side, without causing exceeding concen- tration stress on the targeted object.