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Design Analysis of a Fabric Based Lightweight Robotic Gripper

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Towards Autonomous Robotic Systems (TAROS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11649))

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Abstract

The development of grasping mechanisms for various grasping applications have enabled robots to perform a wide variety of tasks in both industrial as well as domestic applications. Soft robotic grippers have been very useful in grasping applications with an added advantage of simpler control mechanisms as compared to rigid grippers. In this paper, a two fingered gripper inspired by the fingers of a human hand is introduced. The gripper is made from fabrics and, hence, compliant, lightweight, completely foldable and boasts a high payload capability. The mechanical design of the gripper is optimized through experiments, a maximum bending angle of 180° is achieved. We demonstrate grasping of a variety of objects using the new gripper.

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Author information

Authors and Affiliations

  1. Queen Mary University of London, London, UK

    Ahmed Hassan, Hareesh Godaba & Kaspar Althoefer

Authors
  1. Ahmed Hassan
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  2. Hareesh Godaba
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  3. Kaspar Althoefer
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Corresponding author

Correspondence to Ahmed Hassan .

Editor information

Editors and Affiliations

  1. Queen Mary University of London, London, UK

    Kaspar Althoefer

  2. Queen Mary University of London, London, UK

    Jelizaveta Konstantinova

  3. Queen Mary University of London, London, UK

    Ketao Zhang

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Hassan, A., Godaba, H., Althoefer, K. (2019). Design Analysis of a Fabric Based Lightweight Robotic Gripper. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_2

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  • DOI: https://doi.org/10.1007/978-3-030-23807-0_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-23806-3

  • Online ISBN: 978-3-030-23807-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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