Work

Design, Control, and Testing of a Multifunctional Soft Robotic Gripper

Year: 2024

Type: article

Abstract: This paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this study, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, and validated using two different techniques (3D printing and molding) and three different materials: FilaFlex 60A (3D-printed), Elastosil M4601, and Dragonskin Fast 10 silicones (with molds). A new soft gripper design for the Dobot robot is presented, and a new design/production approach with molds is proposed to obtain the gripper’s PneuNet multifunctional actuators. It also describes a new control approach that is used to control the PneuNet actuators and gripper function, using compressed air generated by a small compressor/air pump, a pressure sensor, a mini valve, etc., and executing on a low-cost controller board—Arduino UNO. This paper presents the main simulation and experimental results of this research study.

Source: Actuators

DOI: 10.3390/act13120476

Authors: Ana Correia, Tiago Charters, Afonso Leite, Francisco Campos, Nuno Monge, André Rocha, Mário J.G.C. Mendes

Institutions: Universidade Politécnica de Lisboa, Centro de Investigação em Modelação e Optimização de Sistemas Multifuncionais, University of Lisbon, Instituto Superior Técnico, Centro de Engenharia e Tecnologia Naval e Oceanica

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,728

OpenAlex ID: W4404670923

FWCI: 0.628

Cites: 32

Cited by: 6

Related to: 10