This paper presents a soft gripper that improves on the Fin Ray finger for enhanced gripping capability; it can be used to transfer workpieces in manufacturing processes. A system that can switch between parallel and centric grips was designed and fabricated to extend the working geometry. The structure of the finger was investigated through simulation, and friction pads were designed to improve the gripping force. In the simulation, the effect of each individual structural parameter was analyzed, to optimize the geometry to provide the largest gripping force without losing the advantage of flexible deformation. To verify the enhanced gripping capabilities of three gripping methods, the maximum mass of workpieces that could be gripped was measured. The geometry of the objects that could be gripped was also investigated. The modified gripper significantly improved the gripping weight by a factor of approximately 4–5 compared to the original finger structure, and was able to grip various workpieces, including one with an aspect ratio exceeding 10. The advantages and disadvantages of the friction pad for the different gripping methods were discussed for further improvements.

本文提出了一种柔软的抓手，该抓手在Fin Fin手指上得到了改进，从而增强了抓握能力。它可用于在制造过程中转移工件。设计并制造了可以在平行和中心握柄之间切换的系统，以扩展工作几何形状。通过仿真研究了手指的结构，并设计了摩擦垫来提高抓握力。在仿真中，分析了每个单独的结构参数的影响，以优化几何形状以提供最大的抓地力，而不会失去柔性变形的优势。为了验证三种夹持方法的增强夹持能力，测量了可以夹持的最大工件质量。还研究了可以抓握的物体的几何形状。