CPC B25J 15/12 (2013.01) [B25J 9/142 (2013.01); B25J 15/0023 (2013.01); B25J 15/0253 (2013.01); B25J 15/10 (2013.01); B25J 19/0075 (2013.01)] | 20 Claims |
1. A soft robotic gripper comprising:
a hub configured to mount to a robotic arm, the hub having an inlet formed therethrough leading to an outlet;
an actuator mount assembly pneumatically coupled to the outlet, the actuator mount assembly comprising:
an inflatable actuator comprising an elastomer body and a fluid port configured to provide an inflation fluid,
an actuator mount including a passage configured to connect to the fluid port,
a channel member including a channel configured to connect the passage and the outlet,
a seal configured to surround at least a part of the channel of the channel member, and
a fastener configured to secure the actuator mount to the hub by sealing the channel with the seal under compression; and
a palm configured to form a plenum chamber between the outlet of the hub and the palm, the palm comprising a manifold of channels, wherein the passage of the actuator mount is configured to couple a respective channel of the palm to the inflatable finger.
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