Aiming at the shortcomings of the traditional rigid manipulator with complex structure

high control difficulty and poor adaptability

a pneumatic software gripper with simple structure

convenient control and strong adaptability with variable grasping range was designed and prepared. Flexible photosensitive resin is a manufacturing material

which is made by light-curing 3D printing. The bending theory of the fingers of the gripping hand and the finite element analysis of the width of the cavity section

the height of the cavity section

and the wall thickness of the cavity are carried out

and the experimental and simulation results are compared. The wider the width of the body section

the higher the height of the cavity section

and the thinner the cavity wall thickness

the larger the bending angle

and the trend of the experimental and simulation results is basically the same. The fabricated soft gripping hand can effectively grasp objects of different shapes and sizes

and the test results show that the soft gripping hand has good gripping effect and adaptability.