Soft Gripper with a Rigid End Auxiliary

• Main Authors: Li-Hsiu Wu, 吳禮修
• Other Authors: 劉寅春
• Format: Others
• Language: en_US
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/n4b8qw

碩士 === 淡江大學 === 電機工程學系機器人工程碩士班 === 106 === In this paper, we propose a soft robot clamping claw mold with modular design using Silicone as the main body with 3D drawing skills and 3D printer. The clamping device consists of a rigid front base and a soft robotic clamping claw. The design of the appearance mold is simple and easy to disassemble and install. In the process of assembly,screws are not required to assemble the mold. The design of clamping claw is to make use of the softness of clamping claw and the deformability of grab object throughexperiments. In the front part of the soft gripper through the experiment of again and again, we simulate the part of human hands, and let the soft gripper improved grab planarity items can have more sufficient grab material fetching up the item. The results of the experiment show that compared with the non-finger-like soft robot clamping claws, the finger-like soft robot clamping claws can be more easily grasped when grasping flat objects.