Additively manufactured custom soft gripper with embedded soft force sensors for an industrial robot

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dc.contributor.authorDilibal, Savaş
dc.contributor.authorŞahin, Haydar
dc.contributor.authorDanquah, Josiah Owusu
dc.contributor.authorEmon, Md Omar Faruk
dc.contributor.authorChoi, Jae-Won
dc.date.accessioned2024-06-13T20:17:51Z
dc.date.available2024-06-13T20:17:51Z
dc.date.issued2021
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractSoft robotic grippers are required for power grasping of objects without inducing damage. Additive manufacturing can be used to produce custom-made grippers for industrial robots, in which soft joints and links are additively manufactured. In this study, a monoblock soft robotic gripper having three geometrically gradient fingers with soft sensors was designed and additively manufactured for the power grasping of spherical objects. The monoblock structure design reduces the number of components to be assembled for the soft gripper, and the gripper is designed with a single cavity to enable bending by the application of pneumatic pressure, which is required for the desired actuation. Finite element analysis (FEA) using a hyperelastic material model was performed to simulate the actuation. A material extrusion process using a thermoplastic polyurethane (TPU) was used to manufacture the designed gripper. Soft sensors were produced by a screen printing process that uses a flexible material and ionic liquids. The grasping capability of the manufactured gripper was experimentally evaluated by changing the pneumatic pressure (0-0.7 MPa) of the cavity. Experimental results show that the proposed monoblock gripper with integrated soft sensors successfully performed real-time grasp detection for power grasping.
dc.identifier.doi10.1007/s12541-021-00479-0
dc.identifier.endpage718
dc.identifier.issn2234-7593
dc.identifier.issn2005-4602
dc.identifier.issue4
dc.identifier.scopus2-s2.0-85100728236
dc.identifier.scopusqualityQ2
dc.identifier.startpage709
dc.identifier.urihttps://doi.org/10.1007/s12541-021-00479-0
dc.identifier.urihttps://hdl.handle.net/11501/1119
dc.identifier.volume22
dc.identifier.wosWOS:000616913500001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorDilibal, Savaş
dc.institutionauthorŞahin, Haydar
dc.institutionauthorid0000-0003-4777-7995
dc.institutionauthorid0000-0001-8435-9448
dc.language.isoen
dc.publisherKorean Society for Precision Engineering
dc.relation.ispartofInternational Journal of Precision Engineering and Manufacturing
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectMaterial Extrusion
dc.subjectScreen Printing
dc.subjectSoft Robotics Gripper
dc.subjectSoft Force Sensor
dc.subjectPower Grasping
dc.titleAdditively manufactured custom soft gripper with embedded soft force sensors for an industrial robot
dc.typeArticle

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