A compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spiral spring in this study. The soft gripper is then 3D-printed using a suitable thermoplastic filament material to deliver the desired performance. The sensorless mechanism introduced in this study provides adequate compliance with a single linear actuator for interacting with delicate objects, such as manipulation of human biological materials and fruit picking. The kinematic and dynamic models of the monolithic gripper are derived analytically as well as by means of finite element analysis to synthesize its functionality. The fabricated gripper module is installed on a robot arm to demonstrate the efficacy of design for picking and placing fruits without damaging them. The presented mechanism could be customized and used in the medical and agricultural sectors with diverse geometry objects.

中文翻译：

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符合生物启发的 3D 打印软抓手

在本研究中，基于仿生螺旋弹簧设计了一种兼容的三维 (3D) 打印软夹具。然后使用合适的热塑性长丝材料对软质夹具进行 3D 打印，以提供所需的性能。本研究中引入的无传感器机制提供了与单个线性致动器的足够合规性，用于与精细物体交互，例如操纵人体生物材料和采摘水果。整体式夹持器的运动学和动力学模型是通过分析得出的，并通过有限元分析来综合其功能。制造的夹持器模块安装在机器人手臂上，以展示在不损坏水果的情况下采摘和放置水果的设计功效。