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Model-Based Design of Variable Stiffness Soft Gripper Actuated by Smart Hydrogels.

Qianyi Chen1, Dingena Schott1, Jovana Jovanova1

  • 1Faculty of Mechanical Engineering, Delft University of Technology, Delft, The Netherlands.

Soft Robotics
|April 25, 2024
PubMed
Summary

This study introduces a novel soft gripper actuator with adaptable stiffness, utilizing hydrogel spheres and variable stiffness strips. This design enhances bending and stiffness control for complex grasping tasks.

Keywords:
FEMmodel-based designsoft gripperstiffness variationtemperature-sensitive hydrogel

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Area of Science:

  • Robotics
  • Materials Science
  • Biomimetics

Background:

  • Soft grippers offer advantages for handling delicate and irregular objects but face limitations in actuation and load capacity.
  • Existing soft grippers often require external mechanisms, restricting scalability and customization.

Purpose of the Study:

  • To develop a model-based soft gripper with adaptable stiffness for improved grasping capabilities.
  • To investigate the influence of hydrogel sphere arrangement and variable stiffness strips on gripper performance.

Main Methods:

  • A silicone-based actuator incorporating temperature-responsive hydrogel spheres and embedded variable stiffness strips was designed.
  • A validated finite element method (FEM) model was employed to simulate hydrogel behavior and analyze bending performance.
  • Experimental validation was performed to assess the actuator's bending angle and stiffness variations.

Main Results:

  • The actuator demonstrated programmable responses and significant enhancement in bending stiffness through the variable stiffness method.
  • A direct correlation between hydrogel sphere layers and bending angle was observed, reaching a maximum of 128°.
  • Gap configurations in the chamber membrane increased bending angle threefold, while membrane type had minimal impact. Stiffness increased 30-fold.

Conclusions:

  • The novel soft gripper actuator achieves substantial control over bending and stiffness via active actuation.
  • This adaptable soft gripper shows significant potential for advanced applications in complex and multiscale grasping scenarios.