Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping

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The manipulation of objects of varying sizes is crucial for grippers used in logistics and smart home applications. However, conventional grippers lack cross‐scale grasping capabilities. This study presents a novel single‐pump‐actuated transformable dual‐mode gripper (SATDG) that combines vacuum suction and granular jamming to effectively grasp objects ranging from 10 to 300 mm in size, covering a vast 30‐fold range, with forces from 0.5 to 21 N. Using a bistable mechanism and origami structure, the SATDG can transform between two modes and activate them with one pressure source. Subsequently, a finite‐element analysis of the characteristics of the bistable frame and the origami structure is presented. The performances of both grasping modes of the SATDG are validated. Demonstrations have shown that the SATDG performs outstandingly in logistics and smart home scenarios.

Standort
Deutsche Nationalbibliothek Frankfurt am Main
Umfang
Online-Ressource
Sprache
Englisch

Erschienen in
Single‐Pump‐Actuated Transformable Dual‐Mode Gripper Based on Bistable and Origami Structures for Cross‐Scale Object Grasping ; day:23 ; month:02 ; year:2025 ; extent:11
Advanced intelligent systems ; (23.02.2025) (gesamt 11)

Urheber
Pan, Tianle
Shu, Jing
Zhang, Huayu
Xia, Shuhao
Hu, Jinfei
Zhou, Jianshu
Liu, Yunhui
Ma, Xin

DOI
10.1002/aisy.202400651
URN
urn:nbn:de:101:1-2502241305465.231460124335
Rechteinformation
Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
Letzte Aktualisierung
15.08.2025, 07:21 MESZ

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Beteiligte

  • Pan, Tianle
  • Shu, Jing
  • Zhang, Huayu
  • Xia, Shuhao
  • Hu, Jinfei
  • Zhou, Jianshu
  • Liu, Yunhui
  • Ma, Xin

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