Modular Soft Grippers for Low-Cost Warehouse Picking Robots
Rigid robotic grippers struggle with the wide variety of irregular items in warehouse picking, often damaging fragile goods or dropping oddly-shaped ones. This paper presents a soft, modular gripper built from silicone fingers that conform to an object's shape on contact, assembled from cheap, swappable parts so a damaged finger can be replaced in minutes instead of the whole gripper. In trials picking 200 mixed warehouse items, the modular soft gripper matched the success rate of grippers costing 4x more.
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