TentacleGripper

Year

2017

The idea

The tentacles of an octopus served as a model for the adaptation of this pneumatic gripper tentacle.

The objective

As a soft robotics system with suction cups, the TentacleGripper can grasp objects in a form-fitting manner and enables safe human-robot collaboration.

Technical data

• Length: 22 cm
• Weight: 190 g
• Operating pressure: 2 bar
• Structure material: cast silicone
• Textile mantle material: LYCRA® fibre
• Foil material: polystyrene
• Active suction cups: 8
• Passive suction cups: 10

Function

The gripper consists of a soft silicone structure that can be pneumatically controlled. When filled with compressed air, the tentacle bends inwards and gently wraps itself around the object to be picked up.

Design

At the back of the gripper is a longitudinal air chamber fitted with a protective fibre mantle that restricts the expansion of the silicone. A thin foil in the middle and small recesses on the inside ensure that the gripper bends in the desired direction.

Suction cups

Two rows of suction cups are fitted to the inside of the gripper tentacle: a vacuum is applied to the eight larger suction cups, while the smaller cups at the tip remain passive. A unique combination of traction and negative pressure then arises.

Material

TentacleGripper