SELF-CONTAINED ROBOTIC GRIPPER SYSTEM

摘要

Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.

主权项

1. A robotic system comprising:
a soft actuator comprising an elastomeric bladder configured to receive an inflation fluid; a hub comprising:
a first end having an actuator interface configured to receive the soft actuator, a second end having a mounting interface configured to be mounted to a robotic arm, anda hub body having a pressure source configured to supply the inflation fluid through the actuator interface to the soft actuator.