Study on grasping performance of a novel flexible-rod structure for an inner grasper on a soft gripper
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Zulfan Yus Andi
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Ting-Hsuan Chu
Abstract
This research focuses on analyzing how the design and configuration of the inner grasping structure affect the hold’s ability to conform to shapes, maintain stable grasps, and adapt to object geometries. Through a series of experiments, factors such as grasping position, dimension, shape, and weight variations of the object have been evaluated to determine their influence on key gripper characteristics like grasping ability, contact area, and adaptability. The findings offer valuable insights for optimizing the mechanical design of soft grippers to enhance their effectiveness and make them more viable in handling an object, particularly in applications where conformity and adaptability are crucial on the object surface. Using low-viscosity liquid silicone rubber (LSR) as the primary material extends the previous studies and will be a valuable finding for academic and practical applications.
Award Identifier / Grant number: MOST-108-2622-E-224-003-CC3
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Research ethics: Not applicable.
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Informed consent: Not applicable.
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Author contributions: All authors have accepted responsibility for the entire content of this manuscript and approved its submission. Zulfan Yus Andi: conceptualization, formal analysis, methodology, writing – original draft. Ting-Hsuan Chu: writing – original draft, visualization, writing – review & editing. Helmy Dewanto Bryantono: writing – original draft, visualization, project administration, writing – review & editing. Shi-Chang Tseng: validation, supervision, funding acquisition.
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Use of Large Language Models, AI, and Machine Learning Tools: None declared.
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Conflict of interest: The authors state no conflict of interest.
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Research funding: This work has been developed within the project by the Ministry of Science and Technology (MOST) in Taiwan, funded by the grant MOST-108-2622-E-224-003-CC3.
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Data availability: Not applicable.
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