The field of soft robotics has been growing rapidly in the last couple of years. And the most basic function of a robot is gripping which can lead to other fields of use. As such, soft grippers are becoming more and more popular. This thesis provides the basics of soft robotics and specifically soft grippers, their basic materials, their power options and gripping technologies. With the help of CAD programs and mathematical equations, we have made a detailed analysis of three different versions of soft grippers. In the end we have also made a direct comparison between these three versions of grippers. Through these methods, we have surmised that these versions differ vastly from one another, and it is for that reason that each singular version, has a certain field of use where it exceeds, in comparison to the other versions of soft grippers.
|
