TY - JOUR
T1 - A Comparative Analysis and Scoping Review of Soft-Rigid and Industrial Parallel Rigid Grippers
AU - Li, Lutong
AU - Crosby, Damian
AU - Shuttleworth, Matthew
AU - Argin, Omer Faruk
AU - Chen, Anthony Siming
AU - Herrmann, Guido
AU - Kay, Robert
AU - Weightman, Andrew
PY - 2024/11/10
Y1 - 2024/11/10
N2 - In this research, it is aimed to present a comparative analysis of soft–rigid industrial parallel rigid grippers to compare their technical capabilities and assess the potential for soft–rigid grippers to address the challenge of grasping fragile objects with various shapes and sizes. In this research, 24 soft–rigid grippers are first identified through a scoping review using the Web of Science database, capturing their technical features and performance. Providing a variable stiffness grasp (n = 9, 37.5%) and a limited grasp capability (n = 8, 33.3%) is the most common advantage and challenge, respectively, of soft–rigid grippers. Pneumatic actuators (n = 12, 50.0%), followed by tendon-driven electric rotary actuators (n = 9, 37.5%), are the predominant actuators used for soft–rigid grippers. Soft–rigid grippers are found to have a lower output force-to-weight ratio (n = 9, median (Formula presented.), standard deviation (σ) = 15.17) in comparison to industrial parallel rigid grippers (n = 63, (Formula presented.), (Formula presented.)), but can provide a larger range of motion (n = 20, (Formula presented.), (Formula presented.)). This is the first quantitative comparative analysis between industrial parallel rigid and soft–rigid grippers, enhancing the understanding of their status and prospects in industrial applications. Herein, a common approach is proposed to standardize reporting to facilitate benchmarking between research-based and industrial grippers and highlight controlling soft–rigid grippers is an underexplored area that can enhance the technology's performance.
AB - In this research, it is aimed to present a comparative analysis of soft–rigid industrial parallel rigid grippers to compare their technical capabilities and assess the potential for soft–rigid grippers to address the challenge of grasping fragile objects with various shapes and sizes. In this research, 24 soft–rigid grippers are first identified through a scoping review using the Web of Science database, capturing their technical features and performance. Providing a variable stiffness grasp (n = 9, 37.5%) and a limited grasp capability (n = 8, 33.3%) is the most common advantage and challenge, respectively, of soft–rigid grippers. Pneumatic actuators (n = 12, 50.0%), followed by tendon-driven electric rotary actuators (n = 9, 37.5%), are the predominant actuators used for soft–rigid grippers. Soft–rigid grippers are found to have a lower output force-to-weight ratio (n = 9, median (Formula presented.), standard deviation (σ) = 15.17) in comparison to industrial parallel rigid grippers (n = 63, (Formula presented.), (Formula presented.)), but can provide a larger range of motion (n = 20, (Formula presented.), (Formula presented.)). This is the first quantitative comparative analysis between industrial parallel rigid and soft–rigid grippers, enhancing the understanding of their status and prospects in industrial applications. Herein, a common approach is proposed to standardize reporting to facilitate benchmarking between research-based and industrial grippers and highlight controlling soft–rigid grippers is an underexplored area that can enhance the technology's performance.
KW - grippers
KW - industrials
KW - picks and places
KW - requirements
KW - softs–rigids
UR - https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=pure_starter&SrcAuth=WosAPI&KeyUT=WOS:001354196600001&DestLinkType=FullRecord&DestApp=WOS_CPL
UR - http://www.scopus.com/inward/record.url?scp=85208474104&partnerID=8YFLogxK
U2 - 10.1002/aisy.202400503
DO - 10.1002/aisy.202400503
M3 - Review article
SN - 2640-4567
JO - Advanced Intelligent Systems
JF - Advanced Intelligent Systems
M1 - 2400503
ER -