A Novel Design of Adaptive Grasp Mechanism for Soft Gripper

This text introduces a new soft gripper with dual adaptive mechanisms, which exhibits good gripping adaptability for gripping objects with different shape and size parameters. The novel point of this soft gripper is that its mechanical structure can perform both passive and active adaptive gripping mechanisms. The soft gripper designed in this text does not rely on a complex mechanical structure, the single driving source for its hardware system is an electric putter, which therefore results in its overall structure that can be more easily designed to be very compact as compared to conventional soft grippers. In conclusion, the passive adaptation of the new structure of the passive rotating unit compensates for the shortcomings that exist in the active adaptation alone, the soft gripper can fully fit the grasping object in the contact position and has good grasping adaptability for a wide range of objects with varying geometries, and the greatest weight that can be gripped by the soft gripper is approximately 167 percent of its weight.