Grippers and soft grippers utilize concentrated air chambers and radial force transmission ribs.

Abstract

The invention proposes a three-finger soft gripper using a concentrated air chamber (12) to control the opening and closing movements of the fingers (11). The air chamber (12) has a flat elastic air chamber bottom (123) connected to the base of the fingers (11) via radially arranged force transmission tendons (13). When air is supplied to the air chamber (12), the bottom of the air chamber (123) expands axially and transmits displacement through the tendons (13) causing the fingers to open; when air is sucked out of the air chamber (12) or pressure is reduced in the air chamber, the bottom of the air chamber (123) contracts axially, causing the fingers to close to grip the object. The soft gripper consists of a soft gripper (1), a base assembly (2) with an upper base (21) and a lower base (22), and an air conduction assembly (3). The air chamber rim (121) is clamped between the upper base (21) and the lower base (22) by axially tightened bolts to create an airtight seal and establish mechanical boundary conditions, thereby limiting the radial deformation of the air chamber and orienting the deformation of the bottom of the air chamber (123) mainly axially.The design reduces the number of air passages, increases repeatability and clamping force stability, while maintaining self-adaptive softness without the need for electromechanical screw-type drive.

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