Soft robot gripper with adaptive grasp space

By introducing a connecting plate, positioning plate, and drive device into the soft manipulator, combined with a pressure sensor and a multi-gear system, automatic adjustment of the soft gripper is achieved, solving the adaptability problem of existing soft manipulators when facing objects of different sizes and shapes, and improving the stability and efficiency of grasping.

CN118514106BActive Publication Date: 2026-06-19HEFEI UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HEFEI UNIV OF TECH
Filing Date
2024-05-31
Publication Date
2026-06-19

AI Technical Summary

Technical Problem

Existing soft robotic arms lack the ability to automatically adjust when faced with objects of different sizes and shapes, resulting in a cumbersome grasping process and a waste of human resources.

Method used

The system employs a connecting plate and a positioning plate arranged in parallel vertical directions, combined with three sets of identical soft hand components. The automatic adjustment of the soft gripper is achieved through a drive device, including a central gear driven by a servo motor and a connecting gear set driven by a linear motor. In conjunction with a pressure sensor and a multi-gear system, precise grasping control is realized.

Benefits of technology

It enables the soft robotic arm to automatically adapt to objects of different shapes and sizes, improves the stability and accuracy of grasping, saves labor costs, and simplifies the grasping process.

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Abstract

This invention relates to a soft robotic hand with adaptively adjustable grasping space, comprising a connecting plate, a positioning plate, and three sets of soft hand components evenly arranged along the circumference of the positioning plate. Each of the three soft hand components includes a base connected to the positioning plate, a lead screw and a slider cooperating with the lead screw on the base, a lead screw gear fixed to one end of the lead screw, and the bottom of the slider connected to the soft gripper via a soft hand connector. The invention also includes a driving device, comprising a central gear and three sets of connecting gears evenly distributed along the circumference of the central gear. The central gear is driven to rotate by a servo motor and is always meshed with a driven gear. The connecting gear sets are driven to move up and down by a linear motor. As can be seen from the above technical solution, this soft robotic hand can automatically adjust the spacing between the soft grippers, almost completely conforming to the surface of the object to be grasped. It can adapt to objects of different shapes and sizes, thereby saving labor costs and making grasping and clamping operations simpler and more efficient.
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