Bionic Design and Casting Forming Method of a Soft Gripper Robot

Soft gripper has excellent flexible grasping ability due to the soft and transformable body. Inspired by the drive principle of ring and longitudinal muscle in jellyfish, a enveloped soft gripper robot is proposed, which is combined of four well-designed bionic soft actuators. The FEA results presents that the bionic soft actuator can bend similar as the ring and longitudinal muscle in jellyfish. Then the molds of casting forming are designed and fabricated by 3D-printing. The casting forming process is presented in detail. Finally, the bionic soft gripper is integrated on the KUKA robot to grasp target objects. The experiment results prove that the proposed bionic soft gripper can stably grasp smooth-faced seafood and eggs.