Variable structure soft gripper design for small fragile part gripping

Aiming at the problem that existing rigid manipulators are difficult to stabilise small fragile parts, a pneumatic-based threefinger flexible gripper is designed. Firstly, the problems of the existing pneumatic drive method are studied, and the decreasing profile structure such as air chamber is designed, which makes the bending rate of the fingers in each segment increase gradually and improves the stability of grasping small parts, and the three-finger flexible grasping and rigid expanding slide structure are combined to expand the workspace of the gripper; the kinematics model of the fingertip and root is obtained through mathematical calculations, and the work position of the finger is described; the work position of the finger is described through the Abaqus simulation software for simulation, the response speed of the finger is 0.875s, which verifies the design effect; finally, the physical object is fabricated and the experimental platform is built, and grasping experiments are carried out to verify the performance of the gripper. The results show that the designed soft gripper can stably grasp small fragile parts, and has rich workspace and the ability to adapt to complex structural parts.