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SoftClaw

SoftClaw is a compact, light and versatile Variable Stiffness gripper. It seems like a traditional claw but smarter and with the intrinsic ability to adapt the applied strength to whatever object it is gripping.

It can grasp objects of the most disparate nature, exploiting the intrinsic mechanical intelligence of its variable stiffness system, without the use of any type of sensors on the contact surfaces or specific algorithms on the absorbed current by the motors. These aspects make it a versatile, light and very easy to use device.

The mobile finger is driven by the actuator’s shaft, so it can perform a soft movement to grasp objects avoiding damages on critical parts, or a steady grasp by increasing the stiffness; instead, the fixed finger is directly connected to the frame.

The device needs to be powered with 24V, and its control logic is accessible through a standard micro-USB cable connection.

Regarding software, we will provide a custom ROS package to easily interface with the hardware, giving commands to enable and operate the motor.

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Affiliation:

Centro E. Piaggio - UNIPI

in collaboration with qbrobotics

Downloads
Mechanics

Step file

© 2014 Natural Machine Motion Initiative

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