Universal Robotic Gripping: Variable-Stiffness Gripper Enabled by Jamming Transition

Opportunity  

Advancements in soft robotics have revolutionised how robots interact with the environment, enabling robots to perform complex tasks using soft and compliant grippers. Compared to traditional rigid structures, soft grippers offer superior adaptability for handling various objects and tasks. However, existing gripper systems face challenges in handling delicate, wet and slippery items. This limitation results in risk of damaging valuable items and higher production cost. This underscores the need for a novel solution that is versatile and adaptive. 

Technology  

This variable-stiffness soft pneumatic gripper is based on pneumatic jamming of 3D-printed fabrics. It can apply small forces for pinching delicate items and pick up heavy objects by increasing its stiffness. The grippers is designed to handle items of various shapes and weights, minimising the risk of damage during the gripping process. The key features of this technology include: 

• Lightweight and comfortable structured fabrics
• Vacuum-powered stiffness change
• High gripping-to-pinching force ratio
• Adaptable to items of various shapes and weights
• Safe and precise gripping process
• Low-cost material based on elastic silicone
• Easy fabrication with 3D-printed key parts and standard components 

Figure 1: Robotic gripper for fresh fruit picking.

Applications & Advantages

Main application areas: 

• Agriculture: food harvesting and packaging 
• Food processing: Vegetable and fruit picking, food sorting and food packaging
• Manufacturing: Packaging, assembly and dedicate item handling
• Other applications involving human-robot interaction 

Advantages:

• Universal gripper with high adaptability, versatility and precision 
• Good comfort and high gripping-to-pitch force ratio 
• 3D-printed parts assembled with standard components
• Meets various industrial application requirements