Flexible Gripper Manufacturing and Simulation Based on 3D Printing

Tong, An; Hu, Jianying; Zhang, Minghua; Jin, Yuan; Du, Jianke

doi:10.1109/spawda.2019.8681858

Cited by 2 publications

(3 citation statements)

References 11 publications

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“…Modern robotic systems are starting to employ flexible grippers oriented to soft robotics, as discussed in [6], where one of the antecedents for this type of design is discussed in [7]. In [8] and [9], the use of 3D printing in the design of flexible grippers for complex, gripping objects with robots is illustrated, both are based on a three-finger design, but in extremes of flexibility, the first very flexible and the second with a lesser degree.…”

Section: Introductionmentioning

confidence: 99%

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Flexible Gripper, Design and Control for Soft Robotics

Castillo-Rodriguez

Moreno

2021

IJEEI

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This paper presents the 3D design of a flexible gripper used for gripping polyform objects that require a certain degree of adaptation of the effector for its manipulation. For this case, the 3D printing of the gripper and its construction is exposed, where a fuzzy controller is implemented for its manipulation. The effector has a flexo resistance that provides information of the deflection of the gripper, this information and the desired grip force are part of the fuzzy controller that seeks to regulate the current of the servomotors that make up the structure of the gripper and are responsible for ensuring the grip. An efficient system is obtained for gripping polyform objects involving up to 5 mm deflections with a current close to 112 mA.

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Section: Introductionmentioning

confidence: 99%

“…This article exposes a midpoint of rigidity in the design of a flexible gripper by 3D printing, obtaining a base structure like the one exposed in [9] but having greater dimension and internal separation area per finger allows greater flexibility. Other flexible gripper models can be found in [10], [11], and [12].…”

Section: Introductionmentioning

confidence: 99%

Flexible Gripper, Design and Control for Soft Robotics

Castillo-Rodriguez

Moreno

2021

IJEEI

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“…e introduction of hybrid polymers, consisting in a polymeric mixture with graphene oxide (GO) and graphene nanoplatelets (GNP) could led to create structures that can be tailored to meet speci c requirements such as electrical conductivity or strength by choosing the appropriate GNP/GO ratio in case of exible patches [12]. In conjunction with shape memory polymers (SMPs) 3D printing could be used to produce automatically deformed structures such as exible gripper [13]. Fiber printing has been used to create tunable bistable components using SMPs consisting in special joints for twisting and rotational structures and avoiding complex and tedious post-assembly procedures [14].…”

Section: Introductionmentioning

confidence: 99%

Layered 3D Printing by Tethered Pyro-Electrospinning

Coppola

Nasti

Vespini

et al. 2020

Advances in Polymer Technology

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Nowadays it is easy to imagine that the exploitation of different additive manufacturing approaches could find use in regenerative medicine and frontiers nanotechnology with a strong interest in the development of in vivo bio-incubators that better replicate the tissue environment. Various electrospinning technologies have been exploited for the fabrication of composite polymeric architectures, where fibers have been used for the construction layer by layer of micro-architectures. Unfortunately, in case of processing biomaterials, the intrinsic factors of the materials could become obstacles when considering such advanced engineering methods. Here, for the first time, we use the pyro-EHD process for the fabrication of layered three-dimensional architectures made using a biodegradable and biocompatible polymer. The proposed approach for layered 3D printing works at mild temperature allowing deposition at high resolution and great flexibility in manufacturing, avoiding high voltage generators, and nozzles. The layered 3D printing, activated by the pyro-electric effect, is discussed and characterized in terms of geometrical features and processing parameters. Different geometries and micro-architecture (wall, square, triangle, and hybrid structures) have been demonstrated and over printing of composite polymer, obtained by mixing multiwall carbon nanotubes and fluorochrome, has been discussed, focusing on the use of a biodegradable and biocompatible polymer.

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Flexible Gripper Manufacturing and Simulation Based on 3D Printing

Cited by 2 publications

References 11 publications

Flexible Gripper, Design and Control for Soft Robotics

Flexible Gripper, Design and Control for Soft Robotics

Layered 3D Printing by Tethered Pyro-Electrospinning

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