Soft Robotic Gripper

Pneunet Actuator • Pneumatic Pressure • Soft-Body Fingers • Contact Heat-Map • Fragile Object

Soft Robotic Gripper — 3D

Pressure: 0 kPa • Curl: 0° • Contact: None • State: OPEN

Pressure & Contact vs Time

Gripper State

OPEN

Internal Pressure

kPa

Avg Finger Curl

0.0

degrees

Max Contact Force

0.00

Grasp Quality

—

Contact Heat-Map

Low

High

Fingers	—
Finger Length	—
Segments	—
Cavities	—
Stiffness	—
Object Radius	—
Object Mass	—
Gravity	—

Physics

Pneunet Actuators: Soft silicone body with embedded air cavities. When pressurized, cavities expand asymmetrically — the inextensible bottom layer constrains expansion, causing the finger to curl inward.

Pressure → Curl: Internal force is applied to nodes adjacent to each cavity, pushing outward. The constrained layer creates bending moment M ∝ P × A × d, where P = pressure, A = cavity area, d = offset from neutral axis.

Contact Model: When soft-body nodes touch the rigid sphere, a repulsive force is computed. The magnitude is visualized as a heat-map on the finger surface (blue = low → red = high).

Grasp Quality: Evaluated by coverage (how many nodes are in contact), force distribution uniformity, and whether the object is fully enclosed.

Export

Ready. Click Build then Run.