Tools
Tools
Zolfagharian, A., Gharaie, S., Gregory, J., Bodaghi, M. 
ORCID: 0000-0002-0707-944X, Kaynak, A. and Nahavandi, S.,
2021.
A bioinspired compliant 3D-printed soft gripper.
Soft Robotics.
ISSN 2169-5172
|
Text
1454854_Bodaghi.pdf - Post-print Download (299kB) | Preview |
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: |
|
||||||
| 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 |
Actions (login required)
 |
Edit View |
Views
Views per month over past year
Downloads
Downloads per month over past year
