Design, control, and testing of a multifunctional soft robotic Gripper

This paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this study, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, an...

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Bibliographic Details
Published in:Actuators 2024-12, Vol.13 (12), p.1-22
Main Authors: Correia, A., Charters de Azevedo, Tiago, Leite, Afonso, Marnoto de Oliveira Campos, Francisco Mateus, Monge, Nuno, Rocha, André, Gonçalves Cavaco Mendes, Mário José
Format: Article
Language:English
Subjects:
3-D printers
3D printing
Actuators
Compressed air
Design
Dobot robot
Geometry
hyperelastic models
Molds
multifunctional soft PneuNet actuators
Polyvinyl alcohol
Pressure sensors
Robot control
Robotics
Robots
Sensors
Silicones
soft robotic gripper
Soft robotics
Three dimensional printing
Valves
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Summary:This paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this study, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, and validated using two different techniques (3D printing and molding) and three different materials: FilaFlex 60A (3D-printed), Elastosil M4601, and Dragonskin Fast 10 silicones (with molds). A new soft gripper design for the Dobot robot is presented, and a new design/production approach with molds is proposed to obtain the gripper’s PneuNet multifunctional actuators. It also describes a new control approach that is used to control the PneuNet actuators and gripper function, using compressed air generated by a small compressor/air pump, a pressure sensor, a mini valve, etc., and executing on a low-cost controller board—Arduino UNO. This paper presents the main simulation and experimental results of this research study.
ISSN:2076-0825
2076-0825
DOI:10.3390/act13120476