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A Bioinspired Compliant 3D-Printed Soft Gripper
journal contribution
posted on 2021-07-23, 00:00 authored by Ali ZolfagharianAli Zolfagharian, Saleh GharaieSaleh Gharaie, Jack Gregory, Mahdi Bodaghi, Akif KaynakAkif Kaynak, Saeid NahavandiA compliant three-dimensional (3D)-printed soft gripper is designed based on the bioinspired spiral spring in this study. The soft gripper is then 3D-printed using a suitable thermoplastic filament material to deliver the desired performance. The sensorless mechanism introduced in this study provides adequate compliance with a single linear actuator for interacting with delicate objects, such as manipulation of human biological materials and fruit picking. The kinematic and dynamic models of the monolithic gripper are derived analytically as well as by means of finite element analysis to synthesize its functionality. The fabricated gripper module is installed on a robot arm to demonstrate the efficacy of design for picking and placing fruits without damaging them. The presented mechanism could be customized and used in the medical and agricultural sectors with diverse geometry objects.
History
Journal
Soft RoboticsPagination
1 - 10Publisher
Mary Ann LiebertLocation
New Rochelle, NYPublisher DOI
ISSN
2169-5172eISSN
2169-5180Language
engNotes
In PressPublication classification
C1 Refereed article in a scholarly journalUsage metrics
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