A lightweight soft gripper for envelope grasping is proposed. The main component of the gripper is a spherical latex superelastic membrane whose material properties allow a grabbing function to be realized. The grasping process includes the expansion and tightening of the membrane, and it does not require a constant supply of energy. The geometric relationship between the actuator and the target object are analyzed, from which a gripping force model is deduced to estimate the grasping ability. A test-rig was designed to verify the gripping force model experimentally. The gripper can inherently realize shape adaptability and safety. It is easy to manipulate and control for beginners. Moreover, an actuator of only 50 g can grasp and lift various objects, including fragile and irregularly shaped items with a maximum mass >650 g.

中文翻译：

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柔性柔性信封抓取的轻型软抓手的设计和可行性测试

提出了一种用于抓取信封的轻质软夹具。夹持器的主要部件是球形乳胶超弹性膜，其材料特性允许实现抓取功能。抓取过程包括膜的膨胀和收紧，它不需要持续的能量供应。分析执行器与目标物体的几何关系，推导出抓取力模型来估计抓取能力。设计了一个试验台，通过实验验证了夹持力模型。夹持器可以固有地实现形状适应性和安全性。对于初学者来说很容易操作和控制。此外，仅 50 g 的执行器可以抓取和提升各种物体，包括最大质量 >650 g 的易碎和不规则形状的物品。