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Soft Gripper End Effector Prototype for Fruit Handling

Published: 28 June 2024 Publication History

Abstract

Traditional gripper effectors made of rigid materials are not suitable for use in the food industry, as they have problems holding food and can damage it by applying too much pressure, in this research project a solution for the application of clamps is presented. robotics, making use of soft robotics to create an effector with soft materials with which you can avoid damaging food when holding it, and maintain a firm grip to move it, in addition to providing a greater range of products that can be gripped thanks to flexible materials, a soft gripper end effector was designed and manufactured, which consists of four fingers, created by joining two layers of different materials, the base layer made with TPU through 3D printing to give the fingers greater firmness to hold objects, and the layer of the air chambers, was created using Ecoflex 00-30 elastomer with a mold, giving the fingers greater elasticity so that the effector can be deformed by air very easily without damaging the fingers, this effector is activated by the use of a pneumatic system, using pneumatic hoses to fill and empty the air chambers within the fingers of the effector to perform the actions of grasping and releasing objects, in addition, a touch sensor was incorporated into the fingers of the effector to receive feedback in the moment of contact of the fingers with the object to ensure a good grip of the effector, this effector was tested with apples that weighed around 0.5 pounds, managing to hold them and move them easily.

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ICRSA '23: Proceedings of the 2023 6th International Conference on Robot Systems and Applications
September 2023
335 pages
ISBN:9798400708039
DOI:10.1145/3655532
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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Association for Computing Machinery

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Publication History

Published: 28 June 2024

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Author Tags

  1. Keywords—End effector
  2. pneumatic system
  3. soft robotics
  4. tactile sensor

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