케이블 다발 파지 및 이송을 위한 롤러 기반 형상적응형 가변강성 소프트 그리퍼

Abstract

Flexible cable bundles pose a significant challenge in automated handling due to their irregular geometry and deformable nature. To address this, we propose a novel soft gripper that incorporates a roller-based structure with variable stiffness and shape adaptability. The gripper uses a vacuum-controlled particle-jamming mechanism, allowing it to conform gently to various cable shapes during initial contact and subsequently increase stiffness for secure grasping. In addition, its integrated rolling function enables smooth and controlled transfer of gripped cables without damage. Experimental validation demonstrates reliable grasping performance across cable bundles of different sizes and shapes, confirming that the proposed system can operate effectively without relying on complex visual sensing.