Design and development of soft robotic gripper for food packaging

Grasping and handling delicate objects is an active research area that is evolving fast throughout recent years. Soft grippers are identified as an effective solution since they have the capacity to handle workpieces of various shapes and interacts with disordered environments efficiently. Soft robo...

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Bibliographic Details
Main Authors: Arumugam, Mohan, Ramalingarishi, Naga Dhatshana, Arumugam, Prabukarthi, Mayilswamy, Suresh
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Curing
Design
Elastic deformation
Fingers
Finite element method
Food packaging
Formability
Grasping (robotics)
Grippers
Injection molding
Manufacturing engineering
Modulus of elasticity
Pneumatics
Robotics
Soft robotics
Three dimensional printing
Workpieces
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Summary:Grasping and handling delicate objects is an active research area that is evolving fast throughout recent years. Soft grippers are identified as an effective solution since they have the capacity to handle workpieces of various shapes and interacts with disordered environments efficiently. Soft robotic grippers are generally built with the aid of soft, flexible, and compliant materials, which are able to adapt themselves to the shape of the part so that the soft component that is being handled is not being damaged. In the present article, a four-finger soft robotic gripper is designed and developed using elastic material and pneumatic actuators. Simulation of deformation for different finger designs was performed using finite element analysis and the optimal design was fabricated by means of the curing method. The mold is 3D printed and the silicone material is poured for curing to form the finger shape. The fabricated soft robotic gripper is utilized for handling deformable objects like – tomatoes, apples, and mangoes. It can work in the manufacturing environment from injection molding to assembling drinking cups to packaging bakery items.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0194661