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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2601.09104 |
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| _version_ | 1866908763639775232 |
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| author | Yamamoto, Ko Ishibashi, Kyosuke Ishikawa, Hiroki Azami, Osamu |
| author_facet | Yamamoto, Ko Ishibashi, Kyosuke Ishikawa, Hiroki Azami, Osamu |
| contents | This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with several hundred kPa pressure, and cannot generate output force sufficient for such a large and heavy object. Instead of pneumatic actuation, hydraulic actuation has a potential to generate much larger power by several MPa pressure. In this study, we develop a hydraulically-driven soft gripper, in which its basic design parameters are determined based on a mathematical model that represents the relationship among the driving pressure, bending angle, object mass and grasping force. Moreover, we selected materials suitable for grasping a heavier object, based on the finite element analysis result of the detailed design. We report experimental results on a 20 kg object grasping and closed-loop control of the finger bending angle. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_09104 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object Yamamoto, Ko Ishibashi, Kyosuke Ishikawa, Hiroki Azami, Osamu Robotics This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with several hundred kPa pressure, and cannot generate output force sufficient for such a large and heavy object. Instead of pneumatic actuation, hydraulic actuation has a potential to generate much larger power by several MPa pressure. In this study, we develop a hydraulically-driven soft gripper, in which its basic design parameters are determined based on a mathematical model that represents the relationship among the driving pressure, bending angle, object mass and grasping force. Moreover, we selected materials suitable for grasping a heavier object, based on the finite element analysis result of the detailed design. We report experimental results on a 20 kg object grasping and closed-loop control of the finger bending angle. |
| title | Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object |
| topic | Robotics |
| url | https://arxiv.org/abs/2601.09104 |