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A Fully Multi-Material Three-Dimensional Printed Soft Gripper with Variable Stiffness for Robust Grasping.

Mingzhu Zhu1, Yoshiki Mori2, Tatsuhiro Wakayama2

  • 11Ritsumeikan Global Innovation Research Organization, Ritsumeikan University, Kusatsu, Japan.

Soft Robotics
|April 12, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a novel variable stiffness soft robotic gripper, 3D printed in one step. The innovative design ensures robust grasping even during high acceleration movements.

Keywords:
design for multi-material 3D printinghigh accelerationrobust graspingsoft gripper

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Area of Science:

  • Robotics
  • Materials Science
  • Additive Manufacturing

Background:

  • Multi-material 3D printing enables complex soft actuators.
  • Soft robotic grippers require robust grasping capabilities, especially under dynamic conditions.

Purpose of the Study:

  • To design and fabricate a multi-material 3D printed variable stiffness soft robotic gripper.
  • To ensure grasping robustness during high acceleration using integrated layer jamming.

Main Methods:

  • Utilized a multi-material 3D printer (Objet350Connex) for one-step fabrication of soft fingers.
  • Integrated a pneumatic actuator and a layer jamming unit within each soft finger.
  • Evaluated gripper performance on a robotic arm at accelerations up to 8 m/s².

Main Results:

  • Successfully fabricated complex soft fingers with integrated layer jamming units.
  • Demonstrated variable stiffness: free deformation at low stiffness and robust grasping at high stiffness.
  • Achieved guaranteed grasping robustness at accelerations up to 8 m/s².

Conclusions:

  • The proposed multi-material 3D printed soft gripper effectively ensures grasping robustness during high acceleration.
  • One-step 3D printing offers a fast and efficient fabrication process for complex soft robotic actuators.