Design, Control, and Testing of a Multifunctional Soft Robotic Gripper
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 study, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, an...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/13/12/476 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850049800219656192 |
|---|---|
| author | Ana Correia Tiago Charters Afonso Leite Francisco Campos Nuno Monge André Rocha Mário J. G. C. Mendes |
| author_facet | Ana Correia Tiago Charters Afonso Leite Francisco Campos Nuno Monge André Rocha Mário J. G. C. Mendes |
| author_sort | Ana Correia |
| collection | DOAJ |
| description | 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 study, 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 60A (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 study. |
| format | Article |
| id | doaj-art-fb1f2f6cc62c4bb489e780be78ed318f |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-fb1f2f6cc62c4bb489e780be78ed318f2025-08-20T02:53:38ZengMDPI AGActuators2076-08252024-11-01131247610.3390/act13120476Design, Control, and Testing of a Multifunctional Soft Robotic GripperAna Correia0Tiago Charters1Afonso Leite2Francisco Campos3Nuno Monge4André Rocha5Mário J. G. C. Mendes6ISEL—Instituto Superior de Engenharia de Lisboa, Instituto Politécnico de Lisboa, 1959-007 Lisbon, PortugalISEL—Instituto Superior de Engenharia de Lisboa, Instituto Politécnico de Lisboa, 1959-007 Lisbon, PortugalISEL—Instituto Superior de Engenharia de Lisboa, Instituto Politécnico de Lisboa, 1959-007 Lisbon, PortugalISEL—Instituto Superior de Engenharia de Lisboa, Instituto Politécnico de Lisboa, 1959-007 Lisbon, PortugalESELx—Escola Superior de Educação de Lisboa, Instituto Politécnico de Lisboa, 1549-003 Lisbon, PortugalESELx—Escola Superior de Educação de Lisboa, Instituto Politécnico de Lisboa, 1549-003 Lisbon, PortugalISEL—Instituto Superior de Engenharia de Lisboa, Instituto Politécnico de Lisboa, 1959-007 Lisbon, PortugalThis 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 study, 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 60A (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 study.https://www.mdpi.com/2076-0825/13/12/476soft roboticsmultifunctional soft PneuNet actuatorssoft robotic gripperhyperelastic modelsDobot robot |
| spellingShingle | Ana Correia Tiago Charters Afonso Leite Francisco Campos Nuno Monge André Rocha Mário J. G. C. Mendes Design, Control, and Testing of a Multifunctional Soft Robotic Gripper Actuators soft robotics multifunctional soft PneuNet actuators soft robotic gripper hyperelastic models Dobot robot |
| title | Design, Control, and Testing of a Multifunctional Soft Robotic Gripper |
| title_full | Design, Control, and Testing of a Multifunctional Soft Robotic Gripper |
| title_fullStr | Design, Control, and Testing of a Multifunctional Soft Robotic Gripper |
| title_full_unstemmed | Design, Control, and Testing of a Multifunctional Soft Robotic Gripper |
| title_short | Design, Control, and Testing of a Multifunctional Soft Robotic Gripper |
| title_sort | design control and testing of a multifunctional soft robotic gripper |
| topic | soft robotics multifunctional soft PneuNet actuators soft robotic gripper hyperelastic models Dobot robot |
| url | https://www.mdpi.com/2076-0825/13/12/476 |
| work_keys_str_mv | AT anacorreia designcontrolandtestingofamultifunctionalsoftroboticgripper AT tiagocharters designcontrolandtestingofamultifunctionalsoftroboticgripper AT afonsoleite designcontrolandtestingofamultifunctionalsoftroboticgripper AT franciscocampos designcontrolandtestingofamultifunctionalsoftroboticgripper AT nunomonge designcontrolandtestingofamultifunctionalsoftroboticgripper AT andrerocha designcontrolandtestingofamultifunctionalsoftroboticgripper AT mariojgcmendes designcontrolandtestingofamultifunctionalsoftroboticgripper |