A Soft Robotic Gripper Module with 3D Printed Compliant Fingers for Grasping Fruits

• Published in: 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) pp. 736 - 741
• Main Authors: Liu, Chih-Hsing, Chiu, Chen-Hua, Chen, Ta-Lun, Pai, Tzu-Yang, Chen, Yang, Hsu, Mao-Cheng
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.07.2018
• Subjects: Fingers; Finite element analysis; Force; Grasping; Grippers; Optimization; Topology

This study presents a soft robotic gripper module with 3D printed compliant fingers for grasping fruits. The proposed compliant gripper module is an underactuated two-finger sensor-less design which can be actuated by one linear actuator. A topology optimization method is used to synthesize the mono...