Design And Analysis Of Soft Robotic Gripper With Different Materials For Object Handling

Soft grippers have gained significant attention in robotics due to their ability to handle delicate objects and adapt to complex shapes. This project aims to conduct a comprehensive comparative analysis of various materials used in the development of soft grippers, including Natural rubber, Silicone, Thermoplastic elastomer, and EPDM. Employing a combination of ANSYS simulation and experimental validation techniques, the research endeavors to assess the mechanical performance and suitability of each material for soft gripper applications. Initially, a detailed 3D model of the gripper is meticulously crafted using SolidWorks software, serving as the basis for subsequent simulation studies. Through ANSYS simulation, critical parameters such as stress distribution, strain response, displacement characteristics, bending moment, and temperature stability are rigorously evaluated for each material under varying loading conditions. Concurrently, practical experimentation is conducted to validate the simulation results and assess real-world performance. A silicone-based gripper prototype is fabricated and seamlessly integrated with a FANUC ER4iA robot for compatibility testing, ensuring practical applicability and performance assessment in a robotic manipulation setting. Upon completion of simulation and experimental testing, comprehensive analyses are performed to identify the most suitable material for soft gripper development. Results indicate silicone as the optimal choice, owing to its exceptional mechanical properties, thermal stability, and compatibility with robotic systems. This research significantly contributes to the advancement of soft robotics by providing valuable insights into material selection and performance evaluation, ultimately facilitating the design and development of efficient and versatile soft grippers for diverse industrial and research applications.