DESIGN AND CHARACTERIZATION OF VACUUM ACTUATED SOFT ROBOTIC GRIPPER

DINATA, NOER FADZRI PERDANA and Mataram, Agung and Sidik, Muhammad Abu Bakar (2021) DESIGN AND CHARACTERIZATION OF VACUUM ACTUATED SOFT ROBOTIC GRIPPER. Master thesis, Sriwijaya University.

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Abstract

Grasping of fragile objects is a currently active area of research which is advancing continuously throughout the years. Although conventional robotic gripper systems have proved their versatility, a recent favourable option is to utilized soft robotic grippers to hold various shapes and interacting with unstructured environments. The principal concept of soft grippers is to handle or manipulate various fragile items without harming the object. In this research, we show structured soft-vacuum actuators covered with commercially available latex balloons as a membrane. These actuators are directly manufactured into segmented soft robotic fingers using commercially affordable fused deposition modelling 3D printer. Due to its flexible structural deformation, the task could be achieved without additional complications like their rigid-bodied counterparts. Some advantages of this development are its economical production cost, vastly available material, straight-forward fabrication, and large payload to weight ratio. While the gripper only weighs approximately 63 grams, it capable of lifting to 800 grams load. These actuators’ behaviour is predicted using numerical analysis in finite element modelling, which then verified through experiments. On average, the soft fingers need only -70 kPa to perform the task and fulfil full motion. Furthermore, several structural configurations have been investigated in order to observe any relation between the geometry to the actuator performance. The research presented here confirms that a slight modification of geometry could reduce the deviation after repetitive actuation of soft vacuum actuator up to 50%. The findings presented in this study add to the understanding of geometry, force distribution, and its relation to performance deviation of soft actuators. Finally, the soft structures are fabricated into a soft robotic gripper. Such gripper is utilized to pick up several items, to demonstrate its application to grasp objects.

Item Type:	Thesis (Master)
Uncontrolled Keywords:	Soft Gripper, Vacuum Actuation, Soft Robotic
Subjects:	Q Science > Q Science (General) > Q334-342 Computer science. Artificial intelligence. Algorithms. Robotics. Automation. T Technology > TJ Mechanical engineering and machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Divisions:	03-Faculty of Engineering > 21101-Mechanical Engineering (S2)
Depositing User:	Noer Fadzri Perdana Dinata
Date Deposited:	30 Jun 2021 02:52
Last Modified:	30 Jun 2021 02:52
URI:	http://repository.unsri.ac.id/id/eprint/48430

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