Version 1
: Received: 2 October 2024 / Approved: 3 October 2024 / Online: 4 October 2024 (04:15:41 CEST)
How to cite:
Correia, A.; Charters, T.; Leite, A.; Campos, F.; Monge, N.; Rocha, A.; Mendes, M. J. Design, Control, and Testing of a Multifunctional Soft Robotic Gripper. Preprints2024, 2024100280. https://doi.org/10.20944/preprints202410.0280.v1
Correia, A.; Charters, T.; Leite, A.; Campos, F.; Monge, N.; Rocha, A.; Mendes, M. J. Design, Control, and Testing of a Multifunctional Soft Robotic Gripper. Preprints 2024, 2024100280. https://doi.org/10.20944/preprints202410.0280.v1
Correia, A.; Charters, T.; Leite, A.; Campos, F.; Monge, N.; Rocha, A.; Mendes, M. J. Design, Control, and Testing of a Multifunctional Soft Robotic Gripper. Preprints2024, 2024100280. https://doi.org/10.20944/preprints202410.0280.v1
APA Style
Correia, A., Charters, T., Leite, A., Campos, F., Monge, N., Rocha, A., & Mendes, M. J. (2024). Design, Control, and Testing of a Multifunctional Soft Robotic Gripper. Preprints. https://doi.org/10.20944/preprints202410.0280.v1
Chicago/Turabian Style
Correia, A., André Rocha and Mário J.G.C. Mendes. 2024 "Design, Control, and Testing of a Multifunctional Soft Robotic Gripper" Preprints. https://doi.org/10.20944/preprints202410.0280.v1
Abstract
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 work, 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 (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 work.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
