Additively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Robot

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dc.authoridDilibal, Savas/0000-0003-4777-7995
dc.authoridSahin, Haydar/0000-0001-8435-9448
dc.authoridEmon, Md Omar Faruk/0000-0001-8998-9414
dc.authorwosidDilibal, Savas/Q-3748-2017
dc.authorwosidSahin, Haydar/ABI-4139-2020
dc.contributor.authorDilibal, Savas
dc.contributor.authorSahin, 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.departmentİstanbul Gedik Üniversitesien_US
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.en_US
dc.identifier.doi10.1007/s12541-021-00479-0
dc.identifier.endpage718en_US
dc.identifier.issn2234-7593
dc.identifier.issn2005-4602
dc.identifier.issue4en_US
dc.identifier.scopus2-s2.0-85100728236en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.startpage709en_US
dc.identifier.urihttps://doi.org/10.1007/s12541-021-00479-0
dc.identifier.urihttps://hdl.handle.net/11501/1119
dc.identifier.volume22en_US
dc.identifier.wosWOS:000616913500001en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherKorean Soc Precision Engen_US
dc.relation.ispartofInternational Journal of Precision Engineering and Manufacturingen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectMaterial Extrusionen_US
dc.subjectScreen Printingen_US
dc.subjectSoft Robotics Gripperen_US
dc.subjectSoft Force Sensoren_US
dc.subjectPower Graspingen_US
dc.titleAdditively Manufactured Custom Soft Gripper with Embedded Soft Force Sensors for an Industrial Roboten_US
dc.typeArticleen_US

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