Design and Development of a Compliant End Effector for a Pressure-Sensing Robotic Gripper

Abstract

Soft robotics is a fast-growing field of technology which implements flexible components in robots to optimize their abilities to manipulate fragile or irregularly-shaped objects and to improve general safety during their interactions with humans. However, soft robotic control systems are extremely difficult to implement as the compliance of these component materials often makes the robotic actuation unreliable and inaccurate. The material limitations do not apply to rigid-body systems but are simultaneously the key differences that unlock the potential of effective bio-compliance in robotics. Specifically, the gripping behavior and mechanisms of human hands are incredibly complex to model, and an improvement in this area of research of soft robotic design and control systems has applications in advancing prosthesis, surgical manipulation, and wearable technologies. Through an iterative design process, this project proposes a compliant end effector for a pneumatically-sensed robotic gripper that is simple, effective and reliable, and its performance is validated through a series of experimental gripping and lifting tests of fragile and irregularly-shaped objects. The device is fabricated primarily using 3D modeling and printing technologies to easily modify the design and to minimize costs and weight. Further directions for the prototype are also discussed for the engineering community to continue developing the project’s mechanical framework and control systems.