A bioinspired compliant 3D-printed soft gripper

Zolfagharian, A, Gharaie, S, Gregory, J, Bodaghi, M ORCID: https://orcid.org/0000-0002-0707-944X, Kaynak, A and Nahavandi, S, 2021. A bioinspired compliant 3D-printed soft gripper. Soft Robotics. ISSN 2169-5172

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Abstract

A compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spiral spring in this study. The soft gripper is then 3D-printed using a suitable thermoplastic filament material to deliver the desired performance. The sensorless mechanism introduced in this study provides adequate compliance with a single linear actuator for interacting with delicate objects, such as manipulation of human biological materials and fruit picking. The kinematic and dynamic models of the monolithic gripper are derived analytically as well as by means of finite element analysis to synthesize its functionality. The fabricated gripper module is installed on a robot arm to demonstrate the efficacy of design for picking and placing fruits without damaging them. The presented mechanism could be customized and used in the medical and agricultural sectors with diverse geometry objects.

Item Type:	Journal article
Publication Title:	Soft Robotics
Creators:	Zolfagharian, A., Gharaie, S., Gregory, J., Bodaghi, M., Kaynak, A. and Nahavandi, S.
Publisher:	Mary Ann Liebert Inc
Date:	23 July 2021
ISSN:	2169-5172
Identifiers:	Number Type 10.1089/soro.2020.0194 DOI 1454845 Other
Divisions:	Schools > School of Science and Technology
Record created by:	Laura Ward
Date Added:	29 Jul 2021 08:38
Last Modified:	23 Jul 2022 03:00
URI:	https://irep.ntu.ac.uk/id/eprint/43656

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