Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for such systems, and robust attachment to rough real-world surfaces still remains a grand challenge. Here, we propose a fully soft robotic gripper, where a flat elastic membrane is used to conform and contact parts or surfaces well, where an internal negative pressure exerted on the air-sealed membrane induces the suction-based gripping. 3D printing in combination with soft molding techniques enable the fabrication of the soft gripper. Robust attachment to complex 3D and rough surfaces is enabled by the surface-conformable soft flat membrane, which generates strong and robust suction at the contact interface. Such robust attachment to rough and irregular surfaces enables manipulation of a broad range of real-world objects, such as an egg, lime, and foiled package, without any physical damage. Compared to the conventional suction cup designs, the proposed suction gripper design shows a four-fold increase in gripping performance on rough surfaces. Furthermore, the structural and material simplicity of the proposed gripper architecture facilitates its system-level integration with other soft robotic peripherals, which can enable broader impact in diverse fields, such as digital manufacturing, robotic manipulation, and medical gripping applications.

中文翻译：

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基于抽吸的粗糙和不规则零件的软机器人抓取

最近，已经提出了具有微观特征或主动抽吸组件的基于抽吸的机器人系统来抓握粗糙和不规则的表面。然而，此类系统需要复杂的制造方法或复杂的控制系统，并且对粗糙的现实世界表面的牢固连接仍然是一个巨大的挑战。在这里，我们提出了一种完全柔软的机器人抓手，其中使用平坦的弹性膜来很好地贴合和接触零件或表面，其中施加在空气密封膜上的内部负压会引起基于吸力的抓握。3D 打印与软成型技术相结合，可以制造软抓手。表面贴合的软平面膜能够牢固地附着在复杂的 3D 和粗糙表面上，在接触界面产生强大而强大的吸力。这种对粗糙和不规则表面的牢固附着使得可以在不造成任何物理损坏的情况下操纵范围广泛的现实世界物体，例如鸡蛋、石灰和箔纸包装。与传统的吸盘设计相比，所提议的吸盘设计在粗糙表面上的抓握性能提高了四倍。此外，所提出的夹持器架构的结构和材料简单性有利于其与其他软机器人外围设备的系统级集成，这可以在数字制造、机器人操作和医疗夹持应用等不同领域产生更广泛的影响。与传统的吸盘设计相比，所提议的吸盘设计在粗糙表面上的抓握性能提高了四倍。此外，所提出的夹持器架构的结构和材料简单性有利于其与其他软机器人外围设备的系统级集成，这可以在数字制造、机器人操作和医疗夹持应用等不同领域产生更广泛的影响。与传统的吸盘设计相比，所提议的吸盘设计在粗糙表面上的抓握性能提高了四倍。此外，所提出的夹持器架构的结构和材料简单性有利于其与其他软机器人外围设备的系统级集成，这可以在数字制造、机器人操作和医疗夹持应用等不同领域产生更广泛的影响。