Self-Closing Suction Grippers for Industrial Grasping via Form-Flexible Design
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arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866909672389214208 |
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| author | Wang, Huijiang Kunz, Holger Adler, Timon Iida, Fumiya |
| author_facet | Wang, Huijiang Kunz, Holger Adler, Timon Iida, Fumiya |
| contents | Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary significantly in size from the aperture, including both larger and smaller parts. Compared with traditional grippers, the gripper achieves self-closing to form an airtight seal. Under a vacuum, a wide range of grasping is realized through the passive morphing mechanism at the interface that harmonizes pressure and flow rate. This hybrid gripper showcases the capability to securely grasp an egg, as small as 54.5% of its aperture, while achieving a maximum load-to-mass ratio of 94.3. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_01561 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Self-Closing Suction Grippers for Industrial Grasping via Form-Flexible Design Wang, Huijiang Kunz, Holger Adler, Timon Iida, Fumiya Robotics Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary significantly in size from the aperture, including both larger and smaller parts. Compared with traditional grippers, the gripper achieves self-closing to form an airtight seal. Under a vacuum, a wide range of grasping is realized through the passive morphing mechanism at the interface that harmonizes pressure and flow rate. This hybrid gripper showcases the capability to securely grasp an egg, as small as 54.5% of its aperture, while achieving a maximum load-to-mass ratio of 94.3. |
| title | Self-Closing Suction Grippers for Industrial Grasping via Form-Flexible Design |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.01561 |