Fabrication and Characterization of Novel Soft Compliant Robotic End-Effectors with Negative Pressure and Mechanical Advantages

Abstract

Vacuum gripping technology is ancient and manipulating the object with suction has been predominantly used to many confined well-defined problems. Grippers employing this technology are effective in lifting soft materials and heavier objects. They also have an advantage of providing an active grasp control in lifting objects with a large surface area with a remarkable ease and enhanced grasp stability than standard/hand-held grippers. However, the potential of these vacuum based grippers for grasping object requiring higher suction force needs multiple suction cups with an individual central vacuum pump which make the setup bulky and immovable. Due to increased complexity in designing, fabricating of different components of the gripper, the application of this technology for a larger range of objects is relatively less explored. Thus, in this work, we propose a novel design of suction gripper which acts as a replacement for the multiple suction cups. In our design, only a single vacuum pump is required to actuate multiple holes that work as suctions on the contact surface. Our results highlight that gripper has the capability of lifting 100 times its own weight with great ease and has the strength and durability to withstand a maximum force of 40N. One important feature is the ability of the gripper to lift curved objects higher than the dimension of the gripper. Due to its simple structure, easy fabrication, low cost, higher lifting capabilities makes it unique and opens many opportunities to see advanced applications with such suction grippers.