Topology Synthesis, Prototype, and Test of an Industrial Robot Gripper with 3D Printed Compliant Fingers for Handling of Fragile Objects

Chih-Hsing Liu, Ta Lun Chen, Tzu Yang Pai, Chen Hua Chiu, Wei Geng Peng, Mao Cheng Hsu

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

1 Citation (Scopus)

Abstract

This study presents the design of an innovative soft robotic gripper which consists of one linear actuator and two identical topology optimized compliant fingers. Both fingers can be actuated by one displacement input, and can deform elastically to execute the gripping motion. A topology optimization method is presented to synthesize the compliant finger. The developed finger is a monolithic compliant mechanism prototyped by 3D printing using flexible thermoplastic filament. The proposed gripper module is mounted on a six-Axis industrial robot to demonstrate its capability in handing of fragile objects such as apple, glass cup, egg, water balloon, and balloon. The proposed compliant gripper is a low-cost, sensor-less design which can be used in adaptive grasping of size-varied fragile objects.

Original languageEnglish
Title of host publication2018 WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages129-134
Number of pages6
ISBN (Electronic)9781538676745
DOIs
Publication statusPublished - 2018 Dec 19
Event1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018 - Beijing, China
Duration: 2018 Aug 16 → …

Other

Other1st WRC Symposium on Advanced Robotics and Automation, WRC SARA 2018
CountryChina
CityBeijing
Period18-08-16 → …

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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