This invention discloses an
inflatable,
jellyfish-inspired, entanglement-like gripper
robot device, comprising a disc-shaped body, several
helical soft actuators, a quick-connect air hose, and a drive
control system. The
helical soft actuators are connected to the quick-connect air hose via 3D-printed sealing connectors and are evenly distributed around the disc-shaped body, arranged in two groups: internal and external. Each
actuator uses a highly elastic rubber tube as an expansion carrier, covered by a double-
helical woven
fiber mesh. Additional fibers are added in the helical direction outside the mesh, forming three sets of
fiber-encircling constraint structures. The drive
control system controls inflation and deflation via a controller, relays, and solenoid valves. This invention achieves helical winding deformation solely through air pressure, eliminating the need for complex sensors and algorithms. It can non-destructively grasp irregular, fragile, or high-speed targets. With its simple structure, good flexibility, and high
modularity, it is suitable for
aerospace, industrial sorting, and medical assistance fields.