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Optimal Design of a Soft Robotic Gripper for Grasping Unknown Objects
Chih-Hsing Liu1, Ta-Lun Chen1, Chen-Hua Chiu1
1Department of Mechanical Engineering, National Cheng Kung University , Tainan, Taiwan .
Soft Robotics
|May 10, 2018
Summary
This study introduces a low-cost, 3D-printed compliant robotic gripper capable of grasping various objects. The motor-driven, two-finger design effectively handles objects ranging from 42 to 141 mm.
Area of Science:
- Robotics
- Mechanical Engineering
- Materials Science
Background:
- Grasping diverse objects remains a challenge in robotics.
- Existing grippers often lack adaptability for unknown object sizes and fragility.
Purpose of the Study:
- To design and develop an underactuated, motor-driven compliant gripper.
- To enable grasping of size-varied and potentially vulnerable objects.
Main Methods:
- A compliant finger mechanism was synthesized using topology optimization.
- The finger was prototyped using 3D printing with flexible filament.
- A two-finger gripper module was actuated by a gear motor and mounted on a robotic arm.
Main Results:
- The gripper successfully grasped objects with sizes ranging from 42 to 141 mm.
- The maximum payload capacity was determined to be 2.1 kg.
- Demonstrated effective grasping and manipulation capabilities on a robotic arm.
Conclusions:
- The developed compliant gripper is a cost-effective solution for handling size-varied objects.
- The design shows promise for applications involving delicate or irregularly shaped items.
- Topology optimization and 3D printing are effective for creating compliant robotic end-effectors.
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