Xuan Hiep, T. and My, C.A. and Van Binh, P. and Hieu, L.C. (2023) Innovative development of a soft robotic gripper: mathematical modeling and grasping capability analysis. Mechanics Based Design of Structures and Machines. ISSN 15397734
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Recently, most soft grippers rely on complex mechanisms or complicated structures, leading to challenging fabrication and mathematical modeling. This study presents an innovative soft-fingered gripper design with an asymmetric tube that has a variable cross-section, providing a simple yet effective solution for gripping tasks. The proposed mathematical modeling and solutions were successfully developed and experimentally validated to analyze the effects of the robot arm’s motion on the gripping capability of the gripper. This innovation represents an improvement over existing designs and has the potential to enhance the design and efficient performance of soft robotic grippers. © 2023 Taylor & Francis Group, LLC.
| Item Type: | Article |
|---|---|
| Divisions: | Institutes > Institute of Simulation Technology Faculties > Faculty of Mechanical Engineering Faculties > Faculty of Aerospace Engineering |
| Identification Number: | 10.1080/15397734.2023.2242919 |
| Uncontrolled Keywords: | Capability Analysis; Complex mechanisms; Complicated structures; Mathematical modeling; Mechanism structure; Robotic dynamics; Robotic grippers; Robotic simulation; Soft robotic gripper; Soft robotics, Grippers |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/10891 |
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