Development of a Soft Gripper Using Kirigami-Inspired Techniques

摘要

This study introduces a soft robotic gripper inspired by Kirigami, designed to improve flexibility and adaptability for handling delicate or irregular objects. The gripper, fabricated using silicone elastomers with strategic Kirigami cuts, allows significant deformation while maintaining structural integrity. Two models were tested on various objects. Model 1 showed superior performance, while Model 2, designed for larger objects, struggled with smaller and heavier items. The gripper demonstrated excellent adaptability, securely gripping diverse objects by conforming to complex geometries. Its potential for gentle handling makes it suitable for biomedical and agricultural applications. Durability tests revealed that the 1.5 mm thickness gripper maintained performance after over 100 cycles, outperforming the 1.0 mm version, which exhibited loosening after fewer uses. Compared to conventional grippers, the Kirigamiinspired design showed enhanced flexibility, precision, and durability, making it ideal for automation tasks. Future refinements in materials and design will further improve its performance.