Design and Development of Underactuated Soft Robotic Gripper for Space Applications

The current study describes a two-fingered soft robotic grasper for handling objects of varying sizes, and materials, including soft and fragile objects. The grasper's design uses compliance and underactuation to efficiently adapt its shape to the object's shape without requiring active po...

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Bibliographic Details
Published in:	2024 IEEE Space, Aerospace and Defence Conference (SPACE) pp. 700 - 704
Main Authors:	Malviya, Saloni, Sharma, Ankit, Arora, Hemant, Gk, Prashant
Format:	Conference Proceeding
Language:	English
Published:	IEEE 22-07-2024
Subjects:	ADAMS Analytical models Ansys Compliance CREO Manipulators Modal analysis Motors Position control Robotic grasper Shape Soft robotics Underactuation
Online Access:	Get full text
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Summary:	The current study describes a two-fingered soft robotic grasper for handling objects of varying sizes, and materials, including soft and fragile objects. The grasper's design uses compliance and underactuation to efficiently adapt its shape to the object's shape without requiring active position control. This study follows a previously presented work on the Grasper's kinematic feasibility. Further, static structural analysis is performed to analyze the launch loads experienced by the grasper model and validate its structural design. Moreover, the modal analysis has been conducted to determine the frequency of the grasper and study the mode shapes, and examine the critical modes.
DOI:	10.1109/SPACE63117.2024.10667844