Design and Manufacture of a Flexible Pneumatic Soft Gripper

The soft robot has many degrees of freedom, strong environmental adaptability, and good human–computer interaction ability. As the end-effector robot, gripper can grasp objects different shapes without destructivity. Based on theoretical analysis kinematics model flexible bending deformation air cavity were established. Accordingly, relationship between angle pressure was determined. Through application finite element software, degree pneumatic network multi-cavity simulated, influence structural parameters actuator In addition, 3D technology conducts printing fixtures molds, injection molds actuator, interface controls movement gripper. This paper proposes control monitoring are realized through electrical module, circuit sensor group size airflow velocity be controlled by PWM DC speed regulation. adaptability in grasping verified. results shows that software possesses flexibility better shapes.