Design of Fin Ray Effect Soft Robotic Gripper for Improved Mechanical Performance and Adaptability: Numerical Simulations and Experimental Validation

Abstract

In the field of soft robotics, achieving a balance between adaptability and grasping strength is fundamental, especially for manipulating delicate fruits and vegetables. This study compares the design and performance of two Soft Robotic Fingers (SRFs) inspired by the Fin Ray Effect (FRE) to determine the impact of different designs on gripping efficacy. This research uses the Ansys software to evaluate each design under the same grasping conditions, followed by the application of a progressively increasing pull force to determine each design's maximum force tolerance before gripping failure and to analyse the pressure applied in the object that is manipulated. The SRFs were fabricated using Fused Filament Fabrication (FFF) using Thermoplastic Polyurethane (TPU) with shore 95A, and the computational predictions were compared to laboratory testing, in a controlled laboratory setting, focusing on grasping force, deformation under load, and overall performance. The outcomes offer insightful design considerations for FRE-based robotic grippers' performance. This work paves the way for future research aimed at refining SRF designs for specific uses and enhancing gripper efficiency and reliability.