Abstract: A gripping tool includes a vacuum manifold, a flexible membrane, and vacuum channels coupled in parallel between the vacuum manifold and the flexible membrane. Each of the vacuum channels includes a compliant conduit, a vacuum check valve, and suction cup. The vacuum check valve is biased to a closed condition and is configured to toggle from the closed condition to an open condition when a vacuum source applies a vacuum in the vacuum manifold and the suction cup of that vacuum channel is engaged by the object. Each of the check valves independently toggles between the closed condition and the open condition such that, when a vacuum is drawn in the vacuum manifold, the vacuum is maintained in the vacuum manifold and in the compliant conduits of the vacuum channels that have engaged suction cups.

Abstract: A system for lifting a deformable object includes a support structure, two pairs of opposing arms coupled to the support structure, and a fluid power driver operatively coupled in parallel to the pairs of opposing arms via a fluid power system. Each of the arms includes inclined surfaces configured to contact the deformable object. When the support structure is positioned above the deformable object on the surface, the fluid power driver is configured to increase pressure in the fluid power system until the pressure in the fluid power system reaches a predetermined level such that (i) each of the pairs of opposing arms independently closes a distance until the inclined surfaces are in contact with sides of the deformable object, and (ii) the pairs of opposing arms exert a compressive force on the deformable object that causes the deformable object to slide up one or more of the inclined surfaces.