A 0.5-meter-scale,high-load,soft-enclosed gripper capable of grasping the human body  

作　　者：LI HaiLi ZHANG Shuai ZHANG XuanHao ZHAO WuMian YAO JianTao 

机构地区：[1]Zhejiang Provincial Key Laboratory of Part Rolling Technology,Faculty of Mechanical Engineering&Mechanics,Ningbo University,Ningbo 315211,China [2]Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004,China

出　　处：《Science China(Technological Sciences)》2023年第2期501-511,共11页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant No.51975505);the Ningbo Natural Science Foundation of China (Grant No.2022J134);the Open Research Project of the State Key Laboratory of Industrial Control Technology,Zhejiang University,China (Grant No.ICT 2022B14)。

摘　　要：Developing large,soft grippers with high omnidirectional load(above 40 kg)has always been challenging.We address this challenge by developing a powerful soft gripper that can grasp the human body based on a soft-enclosed grasping structure and a soft-rigid coupling structure.The envelope size of the proposed soft gripper is 611.6 mm×559 mm×490.7 mm,the maximum grasping size is 417 mm,and the payload on the human body is more than 90 kg,which has exceeded most existing soft grippers.Furthermore,the grasping force prediction of the gripper is achieved through theoretical modeling.The primary contribution of this work is to overcome the size and payload limits of current soft grippers and implement a human-grasping experiment based on the soft-grasping method.

关 键 词：soft gripper large size high-load soft-enclosed grasping 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]