A topology-optimized 3D printed compliant finger with flex sensor for adaptive grasping of unknown objects

Chih Hsing Liu, Mao Cheng Hsu, Yang Chen, Wei Ting Chen, Ta Lun Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This study presents a motor-driven, two-finger compliant gripper with sensory feedback for autonomously adaptive grasping of unknown objects. The proposed compliant finger is synthesized using a topology optimization method, and prototyped by 3D printing using thermoplastic elastomer filament. Both compliant fingers of the gripper can be actuated by one displacement input and deform elastically to generate the gripping motion. A resistive flex sensor is installed on the surface of the compliant finger to determine the amount of bending for the finger. The value of resistive flex sensor reading is utilized as the feedback signal for the soft gripper. The effect of input displacement on bending angle and flex sensor reading, and the effect of object size on flex sensor reading and output force are provided in this study. The developed gripper is mounted on an industrial robot for automatic grasping of a variety of objects such as glass cup, tomato, egg, water balloon, hard disk, and paper box. The test results show the proposed design can grip objects with sizes between 30 and 141mm, and the maximum payload is measured as 2.5kg.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages92-97
Number of pages6
ISBN (Electronic)9781728124933
DOIs
Publication statusPublished - 2019 Jul
Event2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
Duration: 2019 Jul 82019 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
CountryChina
CityHong Kong
Period19-07-0819-07-12

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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  • Cite this

    Liu, C. H., Hsu, M. C., Chen, Y., Chen, W. T., & Chen, T. L. (2019). A topology-optimized 3D printed compliant finger with flex sensor for adaptive grasping of unknown objects. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 (pp. 92-97). [8868323] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2019.8868323