Design of a flexible gripper based on composite structure

Inhalt:
Based on the requirements of dexterity and flexibility of robots’ end actuators in the future, a pneumatic flexible gripper with composite structure is proposed in this paper. According to the demand of two degrees of freedom in space, a flexible gripper with joint-grip composite structure is designed. The flexible gripper is driven by air pressure and controlled by several air valves. According to the characteristics of the flexible gripper, the driving system and control system are designed. The main material of the flexible gripper is silica gel. Due to the particularity of the mechanical structure of the flexible gripper proposed in this paper, the traditional manufacturing method of injection molding is improved. Finally, the pneumatic flexible gripper of the composite structure is installed on a three-stage manipulator, and its structure and performance are analyzed through a series of experiments.