Abstract
In this paper, a variable structure pneumatic soft robot is proposed. Its structure is variable in that when it grasps irregular objects, it can adapt to different sizes by active expansion or contraction. Its expansion range is from diameter 200 to 300 mm, its four soft pneumatic actuators (SPAs) can be rotated independently to adapt to different shapes, and it has high flexibility. The active compliant grasping method enables it to capture at the best position, which can improve the success rate of capture and reduce damage to the object being grasped. The experiment proves the effectiveness of the variable structure mechanism, and the proposed soft robot has low cost and a simple manufacturing process, so the mechanism has great application prospects.