SOFT ROBOTIC GRIPPERS FOR CLUTTERED GRASPING ENVIRONMENTS, HIGH ACCELERATION MOVEMENTS, FOOD MANIPULATION, AND AUTOMATED STORAGE AND RETRIEVAL SYSTEMS

Exemplary embodiments relate to soft robotic gripper systems suited to grasping target objects (210) in cluttered environments. Some embodiments provide extension rods (208), hinges (204, 208), and/orrails (604-1, 604-2) that allow a soft robotic actuator (100) to be extended towards or away from a robotic base and/or other actuators. Accordingly, a gripper including the actuator may be reconfigured into a size and/or shape that allows for improved access to the cluttered environment. Further embodiments relate to soft robotic gripper systems for supporting grasped objects during high acceleration movements using vacuum, gripper, and/or bellows devices. Still further embodiments relate to specialized grippers for manipulating food items. 示例性实施例涉及适于在杂乱环境中抓取目标物体(210)的软机器人抓持器系统。些实施例提供延长杆(208)、铰链(204、208)和/或轨道(604-1、604-2)，其允许软机器人致动器(100)朝向或远离机器人基座和/或其它致动器延伸。因此，包括致动器的抓持器可以被重构成允许改善对杂乱环境的接近的尺寸和/或形状。进步的实施例涉及用于在使用真空、抓持器和/或波纹管装置的高加速度运动期间支撑被抓取物体的软机器人抓持器系统。更进步的实施例涉及用于操作食品的专用抓持器。