Origami-Inspired Soft Gripper with Tunable Constant Force Output

2025-03-03

AI Summary

To address the instability in traditional soft grippers caused by low stiffness and imprecise force control, this paper proposes a kirigami-inspired tunable-stiffness soft gripper. The method introduces a novel origami-based structural design wherein geometric parameters govern mechanical behavior, enabling constant and adjustable output force over a large strain range (>100%), while simultaneously supporting adaptive deformation and overload protection. The approach integrates origami-inspired mechanical modeling, parametric geometric optimization, 3D modeling, finite element simulation, and experimental validation. Experimental results demonstrate that the gripper maintains output force fluctuations below 8% across a broad deformation range, dynamically conforms to diverse object geometries, and significantly enhances grasping stability and robustness. These attributes render it suitable for industrial applications such as logistics sorting and precision assembly.

Technology Category

• Intelligent Robots: Manipulation
• Search and Optimization: Sampling/Simulation-based Search
• Computer Vision: Low Level & Physics-based Vision

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications that require stable grasping force. In this work, we propose a soft gripper that utilizes an origami-inspired structure to achieve tunable constant force output over a wide strain range. The geometry of each taper panel is established to provide necessary parameters such as protrusion distance, taper angle, and crease thickness required for 3D modeling and FEA analysis. Simulations and experiments show that by optimizing these parameters, our design can achieve a tunable constant force output. Moreover, the origami-inspired soft gripper dynamically adapts to different shapes while preventing excessive forces, with potential applications in logistics, manufacturing, and other industrial settings that require stable and adaptive operations

Problem

• Achieve tunable constant force in soft grippers
• Overcome insufficient stiffness and imprecise force control
• Enable stable grasping for delicate object manipulation

Innovation

• Origami-inspired structure for tunable force
• Optimized parameters for constant force output
• Dynamic shape adaptation with force control