A Novel Design of the Utilisation of Soft Grippers in Loading and Unloading Applications

摘要

This research discusses the investigation of the utilization of soft robotics in loading and unloading applications. It aims to develop, design and manufacture a soft gripper that can grip sensitive objects and fragile parts with various skin, weight and morphology. This gripper provides complete control over the operation through sensor based feedback system to achieve the required performance. A finite element analysis simulation was conducted to assist in the design of the optimum actuator cross-section which attains a high bending radius with minimum pressure and fast actuation. A soft sensor was integrated into the actuator to provide feedback regarding the bending radius and the reaction force by the object being gripped on the actuator. In addition, a special gripper with a cam mechanism was designed in order to increase service space so that a wide range of object handling can be picked. From the simulation, it was observed that the half-rounded actuator is the optimum design due to its fast response and low pressure actuation with a pressure of 30 kPa. From the experimental work, a three-finger soft actuator gripper with closed loop control system can handle small and sensitive objects as well as large object up to 1 kilogram without slipping. Also the gripper can be attached to an industrial robotic arm in a production line to increase efficiency and speed up the process as it does not require a pre-position setup of object being gripped.