Design and Analysis of a Pneumatic End-Effector with an Air Contraction Clamp for Soft Robotics

The manufacturing industry, particularly in the food sector, demands soft robotic grippers to facilitate the delicate handling of vulnerable or fragile products. The intricate geometry and fragility of these items present challenges for traditional grippers. This study adopts the V-model to outline the design, fabrication, testing, and analysis of a pneumatic end-effector geared towards enhancing performance and quality in real-world applications. The incorporation of a pneumatic air contraction clamp ensures precise object gripping. Employing 3D printing with TPU and PLA materials, the end-effector successfully lifted a maximum weight of 400 grams and achieved a maximum flexion of 70 degrees, illustrating its capability to handle standard-sized containers without causing structural damage. The comprehensive evaluation of the end-effector's performance showcases its potential for addressing the nuanced demands of the manufacturing industry, particularly in scenarios involving delicate and susceptible products.