A novel variable grasping range adapter-based soft gripper

Chengqi Song; Jingxiang Wang; Qinglei Bu; Jie Sun

doi:10.1109/ICAC65379.2025.11196253

A novel variable grasping range adapter-based soft gripper

Chengqi Song
, Jingxiang Wang
, Qinglei Bu^*
, Jie Sun^*

^*Corresponding author for this work

Xi'an Jiaotong-Liverpool University

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

Abstract

This study presents a novel soft gripper incorporating a changeable adapter mechanism to improve grasping and manipulation abilities. The gripper features three silicone fingers that can be dynamically repositioned through the adapter, enabling better adaptation to various object shapes. It was constructed using custom-molded silicone and 3D printing, and its mechanical properties were thoroughly characterized. Experiments demonstrated the gripper's effectiveness in grasping and manipulating objects of different shapes, sizes, and materials. The results emphasize the potential of this soft gripper for applications in industrial automation and soft robotics.

Original language	English
Title of host publication	ICAC 2025 - 30th International Conference on Automation and Computing
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798331525453
ISBN (Print)	9798331525460
DOIs	https://doi.org/10.1109/ICAC65379.2025.11196253
Publication status	Published - 27 Aug 2025
Event	30th International Conference on Automation and Computing, ICAC 2025 - Loughborough, United Kingdom Duration: 27 Aug 2025 → 29 Aug 2025

Publication series

Name	International Conference on Automation and Computing, ICAC

Conference

Conference	30th International Conference on Automation and Computing, ICAC 2025
Country/Territory	United Kingdom
City	Loughborough
Period	27/08/25 → 29/08/25

Keywords

3-D printing
changeable adapter
flexible mechanical gripper
pneumatic actuation

Access to Document

10.1109/ICAC65379.2025.11196253

Cite this

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title = "A novel variable grasping range adapter-based soft gripper",

abstract = "This study presents a novel soft gripper incorporating a changeable adapter mechanism to improve grasping and manipulation abilities. The gripper features three silicone fingers that can be dynamically repositioned through the adapter, enabling better adaptation to various object shapes. It was constructed using custom-molded silicone and 3D printing, and its mechanical properties were thoroughly characterized. Experiments demonstrated the gripper's effectiveness in grasping and manipulating objects of different shapes, sizes, and materials. The results emphasize the potential of this soft gripper for applications in industrial automation and soft robotics.",

keywords = "3-D printing, changeable adapter, flexible mechanical gripper, pneumatic actuation",

author = "Chengqi Song and Jingxiang Wang and Qinglei Bu and Jie Sun",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 30th International Conference on Automation and Computing, ICAC 2025 ; Conference date: 27-08-2025 Through 29-08-2025",

year = "2025",

month = aug,

day = "27",

doi = "10.1109/ICAC65379.2025.11196253",

language = "English",

isbn = "9798331525460",

series = "International Conference on Automation and Computing, ICAC",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "ICAC 2025 - 30th International Conference on Automation and Computing",

}

Song, C, Wang, J , Bu, Q & Sun, J 2025, A novel variable grasping range adapter-based soft gripper. in ICAC 2025 - 30th International Conference on Automation and Computing. International Conference on Automation and Computing, ICAC, Institute of Electrical and Electronics Engineers Inc., 30th International Conference on Automation and Computing, ICAC 2025, Loughborough, United Kingdom, 27/08/25. https://doi.org/10.1109/ICAC65379.2025.11196253

A novel variable grasping range adapter-based soft gripper. / Song, Chengqi; Wang, Jingxiang ; Bu, Qinglei et al.
ICAC 2025 - 30th International Conference on Automation and Computing. Institute of Electrical and Electronics Engineers Inc., 2025. (International Conference on Automation and Computing, ICAC).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - A novel variable grasping range adapter-based soft gripper

AU - Song, Chengqi

AU - Wang, Jingxiang

AU - Bu, Qinglei

AU - Sun, Jie

PY - 2025/8/27

Y1 - 2025/8/27

N2 - This study presents a novel soft gripper incorporating a changeable adapter mechanism to improve grasping and manipulation abilities. The gripper features three silicone fingers that can be dynamically repositioned through the adapter, enabling better adaptation to various object shapes. It was constructed using custom-molded silicone and 3D printing, and its mechanical properties were thoroughly characterized. Experiments demonstrated the gripper's effectiveness in grasping and manipulating objects of different shapes, sizes, and materials. The results emphasize the potential of this soft gripper for applications in industrial automation and soft robotics.

AB - This study presents a novel soft gripper incorporating a changeable adapter mechanism to improve grasping and manipulation abilities. The gripper features three silicone fingers that can be dynamically repositioned through the adapter, enabling better adaptation to various object shapes. It was constructed using custom-molded silicone and 3D printing, and its mechanical properties were thoroughly characterized. Experiments demonstrated the gripper's effectiveness in grasping and manipulating objects of different shapes, sizes, and materials. The results emphasize the potential of this soft gripper for applications in industrial automation and soft robotics.

KW - 3-D printing

KW - changeable adapter

KW - flexible mechanical gripper

KW - pneumatic actuation

UR - https://www.scopus.com/pages/publications/105021489059

U2 - 10.1109/ICAC65379.2025.11196253

DO - 10.1109/ICAC65379.2025.11196253

M3 - Conference Proceeding

AN - SCOPUS:105021489059

SN - 9798331525460

T3 - International Conference on Automation and Computing, ICAC

BT - ICAC 2025 - 30th International Conference on Automation and Computing

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 30th International Conference on Automation and Computing, ICAC 2025

Y2 - 27 August 2025 through 29 August 2025

ER -

A novel variable grasping range adapter-based soft gripper

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Publication series

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Keywords

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