Design and fabrication of soft gripper using 3D printer

2nd International conference on Advances in Mechanical Engineering

Bharath Vamsi, P.^1 ; Ragavendra Rao, V.^1

Department of Mechanical Engineering, SRM Institute of Science and Technology, Kattankulathur, India^1

关键词: Bending angle;    Curvature sensor;    Different shapes;    Modular designs;    Molding techniques;    Pressurized air;    Silicon rubbers;    Soft-finger;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/402/1/012026/pdf
DOI  :  10.1088/1757-899X/402/1/012026

来源: IOP

【 摘 要 】

Soft robotics is the most emerging subject in the present world. This paper focuses on the grippers (end effectors) that are attached with robots to interact with the environment. We proposed soft robot gripper with a modular design of cad model, which can hold multiple types of objects. This soft gripper consists of four fingers which are attached commonly and a holder which is used to attach the gripper to robot. All components were 3D printed and the soft finger structure is made molding technique using platinum cure silicon rubber. The fingers analysis is done in using finite element (FE) analysis by applying different loads. The bending of finger is obtained by providing pressurized air. A curvature sensor is integrated inside each finger to measure the curvature or bending angle during grasping. The proposed gripper could grasp and lift objects with different shapes and weights.