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

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dc.contributor.authorAkar, Murat
dc.contributor.authorMura, Bengusu
dc.contributor.authorOniz, Yesim
dc.date.accessioned2026-04-04T18:55:50Z
dc.date.available2026-04-04T18:55:50Z
dc.date.issued2025
dc.departmentİstanbul Bilgi Üniversitesi
dc.description7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications-ICHORA -- MAY 23-24, 2025 -- Ankara, TURKIYE
dc.description.abstractNumber 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.
dc.description.sponsorshipInstitute of Electrical and Electronics Engineers Inc,Ted University
dc.identifier.doi10.1109/ICHORA65333.2025.11017245
dc.identifier.doi10.1109/ICHORA65333.2025.11017245
dc.identifier.isbn979-8-3315-1089-3
dc.identifier.isbn979-8-3315-1088-6
dc.identifier.issn2996-4385
dc.identifier.scopus2-s2.0-105008419334
dc.identifier.scopusqualityN/A
dc.identifier.urihttps://doi.org/10.1109/ICHORA65333.2025.11017245
dc.identifier.urihttps://hdl.handle.net/11411/10581
dc.identifier.wosWOS:001533792800214
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIeee
dc.relation.ispartof2025 7Th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Ichora
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WoS_20260402
dc.snmzKA_Scopus_20260402
dc.subjectSoft Robotics
dc.subjectSoft Gripper
dc.subjectCost-Effective Manufacturing
dc.subjectIndustrial Automation
dc.subjectFood Industry
dc.titleDesign and Manufacture of a Low-Cost Soft Gripper for Industrial Applications
dc.typeConference Object

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