Development of a Compliant Soft Gripper with Embedded Force Sensors

Abstract

Robotic manipulators have the capability to perform repetitive tasks with a level of efficiency and precision that exceeds the capabilities of human operators. Currently, they are commonly found and extensively utilized across various disciplines. However, robotic manipulators have gradually begun to make inroads into fields beyond manufacturing, such as medicine and agriculture. Due to the diverse range of industries utilizing robotic manipulators, the nature of tasks assigned to these devices can often be more intricate and multifaceted than conventional assignments. Hence, conventional mechanical grippers may not always be suitable, prompting a growing need for grippers capable of adapting to effectively grasp a broader range of objects, particularly those that are delicate or prone to deformation, without causing damage. Most existing grippers utilize mechanical linkages, rendering them rigid and lacking adaptability, thus posing a challenge when handling fragile items. Soft grippers have emerged as a viable solution for this issue and have garnered increased interest in recent times. Despite the existence of various models presented in academic literature, they are found to have numerous limitations. This research presents a novel structure for a proficient gripper with the ability to adapt to the contours of the object it is manipulating. Simulations trials were conducted to substantiate the soundness of the proposed concept and were verified by the physical experiments.