Enhancing versatility and adaptability in soft robotics: design and analysis of an adaptive gripping port

Currently, soft robots demonstrate the considerable promise for various applications. However, soft actuators tend to be damaged more easily compared to rigid mechanical components. The common practice of replacing soft actuators typically requires manual intervention and a longer duration. In this paper, we design an adaptive gripping port (AGP) for soft robotic interactions, which is used for fast switching and connectivity. Through a combination of theoretical modeling, fabrication, and experimental analysis, its gripping, releasing, and sealing capabilities are demonstrated. We present four types of the AGP with different internal bladder structures, demonstrating maximal enhancements in griping capability and sealing performance of up to 50% and 40%, respectively. Experiments show the AGP’s adaptability to connectors of various sizes, accommodating diameters from 0 mm to 15.76 mm under negative pressure driving. The relationship between gripping force, maximum sealing pressure, connector diameter, and driving pressure is studied. We also exhibit collaborations with a circular gripper and soft grippers incorporating the AGP to verify the possibility of their interactions.