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Grasping is an essential capability for most robots in practicalapplications. Soft robotic grippers are considered as a critical part ofrobotic grasping and have attracted considerable attention in terms of theadvantages of the high compliance and robustness to variance in objectgeometry; however, they are still limited by the corresponding sensingcapabilities and actuation mechanisms. We propose a novel soft gripper thatlooks like a granary with a compliant snap-through bistable mechanismfabricated by integrated mold technology, achieving sensing and actuationpurely mechanically. In particular, the snap-through bistable structure in theproposed gripper allows us to reduce the complexity of the mechanism, control,sensing designs since the grasping and sensing behaviors are completelypassive. The grasping behaviors are automatically motivated once the triggerposition of the gripper touches an object and applies sufficient force. Tograsp objects with various profiles, the proposed granary soft gripper (GSG) isdesigned to be capable of enveloping, pinching and caging grasps. The gripperconsists of a chamber palm, a palm cap and three fingers. First, the design ofthe gripper is analyzed. Then, after the theoretical model is constructed,finite element (FE) simulations are conducted to verify the built model.Finally, a series of grasping experiments is carried out to assess thesnap-through behavior of the proposed gripper on grasping and sensing. Theexperimental results illustrate that the proposed gripper can manipulate avariety of soft and rigid objects and remain stable even though it undertakesexternal disturbances.

GSG: A Granary Soft Gripper with Mechanical Force Sensing via 3-Dimensional Snap-Through Structure