A Hybrid, Encompassing, Three-Fingered Robotic Gripper Combining Pneumatic Telescopic Mechanisms and Rigid Claws

摘要

Unstructured and uncertain environments that are encountered in search and rescue applications, require complex interactions that involve a wide range of grasps. These grasps are needed in order to handle unpredictable types of objects of various shapes, stiffnesses, and dimensions. Traditionally, the robotic end-effectors used in such situations are rigid and their operation requires sophisticated sensing elements and complicated control algorithms to manipulate delicate and fragile objects. Over the last decade, considerable research effort has been put into the development of adaptive, underactuated, and soft robots that facilitate robust interactions with dynamic environments. In this paper, we propose a three-fingered robotic gripper that combines pneumatic telescopic mechanisms and rigid claws. The gripper uses three large, rigid fingers to accomplish the execution of all the tasks required by a traditional robot gripper, while three inflatable, telescopic fingers provide soft interaction with objects. This synergistic combination of soft and rigid structures allows the gripper to cage / trap and firmly hold heavy and irregular objects. The experiments demonstrate that the gripper can successfully grasp a plethora of objects exerting up to 60 N of clench force.