A Pneumatic Soft End-effector with multiple Grasping modes

In recent years, research on soft end effectors has attracted considerable attention due to their high flexibility, good security and adaptability to unstructured environments. Among them, soft pneumatic actuators exhibit advantages such as easy manufacturing, high extensibility, and high adaptability. This study combines soft pneumatic actuators with motor drive to achieve a switching between internal and external grasping modes and adjustment of grasping space, enhancing the adaptability of soft end-effector to different grasping conditions. In the design process of the soft pneumatic actuators, a method for material parameter identification for finite element analysis is proposed, followed by optimization of the effector design parameters. This study has a certain reference value in the design of multi-mode soft end-actuators.