Design Of A Soft Gripper For Pick And Place Application

Tan, Chuan Zhi (2021) Design Of A Soft Gripper For Pick And Place Application. Final Year Project, UTAR.

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Abstract

A soft robotic pick and place system is a system used to pick things up from one location and place them in the other location by the mean of a soft gripper. The fluidic elastomer material is one of the most commonly used material in the fabrication of soft gripper. Apart from the type of material, the fluidic elastomer soft gripper's different geometry design will give different performance. The fluidic elastomer with corrugated pockets design is used in this project to fabricate the soft gripper. The specific fluidic elastomer used in this project for soft gripper fabrication is Ecoflex 00-30 and Ecoflex 00-50. The soft gripper produced capable of performing pick and place operation with different shape of the object and fragile object. Among different kind of manipulator design, the cartesian type was chosen to provide motion and path planning for the soft gripper. The mechanical structure of the cartesian manipulator and its control firmware was well researched, designed and constructed in this project. This soft gripper pick and place system capable of performing pick and place operation with 3 degrees of freedom. To ensure an accurate and reliable system, configurations and experimentations are performed to measure the performance of the system. Further tuning and calibration were carried out to improve the system. The system has an XY positioning accuracy of 96.15% and an error of only 4.46% speed deviation during point to point travel.

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