Structural Interlocking-Based Weaving Gripper for Enhanced Grasping Performance
Yuvin Jun, Daehyun Kim, Seokhwan Jeong, Joonbum Bae, Kahye Song
Abstract
Robotic grippers have been extensively developed to enable stable and efficient object manipulation across diverse applications. While soft grippers offer high adaptability and safety, their performance remains constrained by an inherent trade-off between flexibility and load-bearing capacity. This study was undertaken with the objective of addressing these challenges by proposing a compact weaving gripper that exploits structurally induced interlocking. Additionally, a prediction model is developed to predict and control grasping configurations. The proposed gripper is integrated with continuum robot, enabling operation in confined environments, and demonstrates applicability across diverse robotic platforms.