Most of the soft grippers with high payload cannot carry cumbersome control systems and power sources themselves, and have to be tethered to external hardware through tubes and wires. To tackle this problem, we proposed an untethered soft pneumatic gripper with a high payload by developing a soft gripping structure with a high gripping force to pressure ratio. The untethered soft gripper integrates silicone elastomer structure, pneumatic artificial muscle (PAM), air pump, battery, controller, solenoid valve, and other components, with a total weight of 1.5 kg. The entire power sources of the untethered soft gripper are supplied by a battery, allowing it to perform at least 300 opening and closing movements. The lightweight and high load capacity of the untethered soft gripper enable its payload to weight ratio to exceed 26. Further, the untethered soft gripper can be installed on an unmanned aerial vehicle to expand its workspace. Also, a tightening force model for winding PAMs is presented in this paper, which can be used to evaluate the pressing force of the untethered soft gripper on the surface of an object.

大多数具有高负载的软抓爪不能携带繁琐的控制系统和电源本身，而必须通过管子和电线拴在外部硬件上。为了解决这个问题，我们提出了一种通过开发具有高夹持力与压力比的软夹持结构的，具有高有效载荷的无束缚的软气动夹持器。无束缚的软抓手集成了硅酮弹性体结构，气动人造肌肉（PAM），气泵，电池，控制器，电磁阀和其他组件，总重量为1.5 kg。不受束缚的软抓手的全部电源由电池供电，使其可执行至少300次打开和关闭运动。无束缚的软抓手的轻量级和高负载能力使其有效负载重量比超过26。无需系留的软爪可安装在无人飞行器上以扩展其工作空间。此外，本文还提出了用于缠绕PAM的拉紧力模型，该模型可用于评估未系绳的软抓手在物体表面上的按压力。