Design and Manufacture of a Low-Cost Soft Gripper for Industrial Applications

Abstract

Number of soft grippers have been developed using smart materials, pneumatic actuators, tendon-style bio-inspired structures. This paper presents a cost-effective fabrication technique for a soft gripper that can grip a wide variety of objects of different weights, sizes, shapes, textures, and stiffness.The gripper features a unique internal structure that enhances performance and adaptability. The primary goal of this study was to develop a robust, affordable, easy to manufacture, and efficient design that can be integrated into various industries that includes food processing, electronics, and glass handling. The manufactured soft gripper in this study, made from RTV-2 (Which has an FDA Approved variation with very close intrinsic properties) silicone, eliminates the need for complex joints and moving parts, reducing hygiene related bacterial risk and simplifying cleaning and maintaining process. The developed gripper has been mounted on a KUKA KR Agilus Sixx industrial robot, and its performance has been validated experimentally for various objects. This research demonstrates effective manufacturing techniques and the potential of soft robotic grippers in industrial applications where traditional rigid grippers may be ineffective.