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A 3d Printed Modular Soft Gripper For Conformal Grasping, Charbel Tawk, Rahim Mutlu, Gursel Alici
A 3d Printed Modular Soft Gripper For Conformal Grasping, Charbel Tawk, Rahim Mutlu, Gursel Alici
Faculty of Engineering and Information Sciences - Papers: Part A
© 2020 IEEE. In this work, a 3D printed modular soft gripper with highly conformal soft fingers was developed. A soft auxetic structure with compliant ribs is 3D printed simultaneously with each soft pneumatic finger for conformal grasping. The fingers of the soft gripper were printed monolithically, without requiring support material and postprocessing, using a low-cost and open-source fused deposition modeling (FDM) 3D printer that employs a commercially available thermoplastic polyurethane (TPU). The soft fingers of the gripper were optimized using finite element modeling (FEM). The FE simulations accurately predicted the performance of the fingers in terms of deformation and …