Design of thick panels origami-inspired flexible grasper with anti-interference ability

This paper designs a flexible grasper (GXU-F-Grasper) inspired by thick panel origami. This grasper can change its shape to fit the working environment according to any structure in the surrounding space. It also has stronger interference resistance compared to rigid graspers and more stable grasping compared to flexible graspers. First, the difference of finger recovery capacity under different connection modes of thick panel origami is analyzed based on the geometric relationship. Then, the boundary conditions under which the grasper needs to change its grasping posture in a complex interaction environment are analyzed. Finally, GXU-F-Grasper single-finger resistance to interference experiments and narrow space grasping object experiments were conducted. Experiments have shown that the GXU-F-Grasper has grasping stability in unstructured and confined environments and interference resistance. This paper provides a new strategy for the grasper to grasp objects stably in a complex interaction environment.