Squeeze-in Functionality for a Soft Parallel Robot Gripper

Grasping parts of inconsistent shapes, sizes and weights securely requires accurate part models and custom gripper fingers. Compliant grippers are a potential solution; however, each design approach requires the solution of unique problems. In this case, the durability and reliability of half lips (at least 1400 cycles) to perform consistently as springs of a specified stiffness (0.5N/mm) and displacement (5mm). Moreover, the challenge of low and small (3mm, 0.01kg bolt or Allen key) objects is addressed through vertical squeeze-in, implemented using an incline, lip and flex limiter as part of a 3D printed TPC spring. The squeeze-in phenomena are verified on large objects through a 30mm, 1.66kg common rail. Experimental results demonstrate the reliability when given a human-specified location for gripping, without the need for jigs or fixtures. Finally, the tested design is assessed for potential fulfillment of 7 of the United Nations sustainable development goals.