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A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback.

Yang Yang1, Kaixiang Jin1, Honghui Zhu1

  • 1School of Automation, Nanjing University of Information Science and Technology, Nanjing 210044, China.

Micromachines
|October 23, 2021
PubMed
Summary

This study introduces a novel, 3D-printed soft robotic gripper inspired by the Fin Ray effect. It offers enhanced control and feedback for versatile grasping applications, improving upon traditional rigid grippers.

Keywords:
3D printingFin Ray effectcompliant structureforce feedbacksoft robotic gripper

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Traditional rigid grippers have limitations in performing delicate or complex manipulation tasks.
  • Soft robotic grippers offer advantages in compliance and adaptability but often lack precise control and sensory feedback.

Purpose of the Study:

  • To develop a novel, fully 3D-printed soft robotic gripper with integrated force sensing.
  • To enhance control and feedback capabilities for soft robotic grippers.
  • To demonstrate the gripper's ability to grasp objects of arbitrary geometry.

Main Methods:

  • A Fin Ray effect inspired soft robotic gripper was designed and fabricated using direct 3D printing with soft materials.
  • An embedded force sensor was integrated for contact force measurement and monitoring.
  • Characterization and grasping experiments were conducted to evaluate performance.

Main Results:

  • The 3D-printed soft gripper exhibited a lightweight, simple structure with high compliance and conformability.
  • The integrated force sensor enabled precise measurement of gripping forces, ensuring successful and suitable grasping.
  • The gripper demonstrated effective grasping of objects with arbitrary geometries.

Conclusions:

  • The proposed Fin Ray effect inspired soft robotic gripper offers a robust solution for versatile grasping tasks.
  • The integrated force sensing enhances control and operational monitoring, addressing key limitations of existing soft grippers.
  • The gripper shows potential for applications in service robotics and the food industry.