Design analysis of a fabric based lightweight robotic gripper
Design analysis of a fabric based lightweight robotic gripper
The development of grasping mechanisms for various grasping applications have enabled robots to perform a wide variety of tasks in both industrial as well as domestic applications. Soft robotic grippers have been very useful in grasping applications with an added advantage of simpler control mechanisms as compared to rigid grippers. In this paper, a two fingered gripper inspired by the fingers of a human hand is introduced. The gripper is made from fabrics and, hence, compliant, lightweight, completely foldable and boasts a high payload capability. The mechanical design of the gripper is optimized through experiments, a maximum bending angle of 180° is achieved. We demonstrate grasping of a variety of objects using the new gripper.
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Hassan, A
33d59c8b-4dfc-4025-ab5c-510ae2e57833
Godaba, Hareesh
787c1482-6a29-43ad-b49e-a6a2b7175f0c
Althoefer, K
031c800b-bf48-4996-8c17-29f7408898c6
1 January 2019
Hassan, A
33d59c8b-4dfc-4025-ab5c-510ae2e57833
Godaba, Hareesh
787c1482-6a29-43ad-b49e-a6a2b7175f0c
Althoefer, K
031c800b-bf48-4996-8c17-29f7408898c6
Hassan, A, Godaba, Hareesh and Althoefer, K
(2019)
Design analysis of a fabric based lightweight robotic gripper.
In Lecture Notes in Computer Science.
Springer Cham.
16 pp
.
(doi:10.1007/978-3-030-23807-0_2).
Record type:
Conference or Workshop Item
(Paper)
Abstract
The development of grasping mechanisms for various grasping applications have enabled robots to perform a wide variety of tasks in both industrial as well as domestic applications. Soft robotic grippers have been very useful in grasping applications with an added advantage of simpler control mechanisms as compared to rigid grippers. In this paper, a two fingered gripper inspired by the fingers of a human hand is introduced. The gripper is made from fabrics and, hence, compliant, lightweight, completely foldable and boasts a high payload capability. The mechanical design of the gripper is optimized through experiments, a maximum bending angle of 180° is achieved. We demonstrate grasping of a variety of objects using the new gripper.
Access provided by University of Southampton. Download
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Published date: 1 January 2019
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Local EPrints ID: 500532
URI: http://eprints.soton.ac.uk/id/eprint/500532
PURE UUID: 802a5e53-b54a-43c3-a2ee-67dd4dddae4b
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Date deposited: 02 May 2025 17:06
Last modified: 03 May 2025 02:17
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Author:
A Hassan
Author:
Hareesh Godaba
Author:
K Althoefer
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