Metrics
11 Record Views
Conference proceeding
A Novel Compliant Self-Adaptive Variable Stiffness Robotic Gripper for Versatile Grasping
Volume 5: 21st IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA); 49th Mechanisms and Robotics Conference (MR), V005T08A020
ASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (Anaheim, California, USA, 08/17/2025–08/20/2025)
08/17/2025
Abstract
The versatility of robotic grippers enables them to handle various objects in diverse applications, primarily when operations need flexible handling of different materials and shapes. The research introduces a new grasping apparatus named Compliant Self-Adaptive Variable Stiffness Robotic Gripper (CS-VSRG) that unifies shape-conforming and adaptive compliance features to improve handling operations. Key to this innovation is the design of Self-Adaptive Variable Stiffness fingers which are constructed by the combination of three separate layers for high-stiffness outer and medium-stiffness middle and low-stiffness inner components. Each layer has been engineered to choose specific objects when gripping forces are applied. Fragile objects with a small grasping force are needed only to contact the low-stiffness layer. As the required grasping force increases, the deformation leads to the contact layer extending to the middle or outer layers through self-adaptive stiffness transition. This allows for adapting to various types of objects while maintaining a firm grasp. A comprehensive control strategy and system design are also developed and analyzed in this paper. Finite element analysis (FEA) simulations are also performed to validate the gripper. The stress distribution, deformation characteristics, and stiffness regulation of the layered structure are studied. A physical prototype is fabricated and an experimental grasping demonstration is performed to evaluate the actual performance. The results confirm that the gripper can dynamically adjust the stiffness of the finger layers involved in the grasping process, thereby enhancing both adaptability and robustness. Additionally, the proposed design is characterized by low cost, high reliability, and structural simplicity, making it well-suited for large-scale industrial applications that require cost-effective robotic operations. It can also be integrated as a component of a dexterous robotic hand.
Related links
Details
- Title
- A Novel Compliant Self-Adaptive Variable Stiffness Robotic Gripper for Versatile Grasping
- Publication Details
- Volume 5: 21st IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA); 49th Mechanisms and Robotics Conference (MR), V005T08A020
- Resource Type
- Conference proceeding
- Conference
- ASME 2025 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (Anaheim, California, USA, 08/17/2025–08/20/2025)
- Publisher
- American Society of Mechanical Engineers
- Copyright
- © 2025 by ASME
- Identifiers
- 99381535188906600
- Academic Unit
- Mechanical Engineering; Hal Marcus College of Science and Engineering
- Language
- English