Soft grippers have experienced a growing interest due to their considerable flexibility that allows them to grasp a variety of objects, in contrast to hard grippers, which are designed for a specific item. One of their most remarkable characteristics is the ability to manipulate soft objects without damaging them. This, together with their wide range of applications and the use of novels materials and technologies, renders them a very robust device. In this paper, we present a comparison of different technologies for soft robotics grippers. We fabricated and tested four grippers. Two use pneumatic actuation (the gripper with chambered fingers and the jamming gripper), while the other two employ electromechanical actuation (the tendon driver gripper and the gripper with passive structure). For the experiments, a group of twelve objects with different mechanical and geometrical properties have been selected. Furthermore, we analyzed the effect of the environmental conditions on the grippers, by testing each object in three different environments: normal, humid, and dusty. The aim of this comparative study is to show the different performances of different grippers tested under the same conditions. Our findings indicate that we can highlight that the mechanical gripper with a passive structure shows greater robustness.

中文翻译：

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软机器人夹爪的不同技术比较

与为特定物品设计的硬质夹持器相比，软质夹持器具有很大的柔韧性，使它们能够抓握各种物体，因而引起了越来越多的兴趣。它们最显着的特征之一是能够在不损坏软物体的情况下对其进行操作。这加上它们的广泛应用以及新颖材料和技术的使用，使它们成为非常坚固的设备。在本文中，我们对软机器人夹具的不同技术进行了比较。我们制造并测试了四个抓爪。两种使用气动致动（带有空心手指的夹持器和卡紧的夹持器），而其他两种采用机电致动（肌腱驱动器夹持器和具有被动结构的夹持器）。对于实验，选择了一组十二个具有不同机械和几何特性的对象。此外，我们通过在三种不同的环境（正常，潮湿和多尘）中测试每个对象来分析环境条件对抓纸器的影响。这项比较研究的目的是显示在相同条件下测试的不同抓爪的不同性能。我们的发现表明，我们可以突出显示具有被动结构的机械抓取器显示出更高的鲁棒性。这项比较研究的目的是显示在相同条件下测试的不同抓爪的不同性能。我们的发现表明，我们可以突出显示具有被动结构的机械抓取器显示出更高的鲁棒性。这项比较研究的目的是显示在相同条件下测试的不同抓爪的不同性能。我们的发现表明，我们可以突出显示具有被动结构的机械抓取器显示出更高的耐用性。