Design and Development of Underactuated Soft Robotic Gripper for Space Applications

Design and Development of Underactuated Soft Robotic Gripper for Space Applications

The current study describes a two-fingered soft robotic grasper for handling objects of varying sizes, and materials, including soft and fragile objects. The grasper's design uses compliance and underactuation to efficiently adapt its shape to the object's shape without requiring active po...

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Published in:2024 IEEE Space, Aerospace and Defence Conference (SPACE) pp. 700 - 704
Main Authors: Malviya, Saloni, Sharma, Ankit, Arora, Hemant, Gk, Prashant
Format: Conference Proceeding
Language:English
Published: IEEE 22-07-2024
Subjects:
ADAMS
Analytical models
Ansys
Compliance
CREO
Manipulators
Modal analysis
Motors
Position control
Robotic grasper
Shape
Soft robotics
Underactuation
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Abstract The current study describes a two-fingered soft robotic grasper for handling objects of varying sizes, and materials, including soft and fragile objects. The grasper's design uses compliance and underactuation to efficiently adapt its shape to the object's shape without requiring active position control. This study follows a previously presented work on the Grasper's kinematic feasibility. Further, static structural analysis is performed to analyze the launch loads experienced by the grasper model and validate its structural design. Moreover, the modal analysis has been conducted to determine the frequency of the grasper and study the mode shapes, and examine the critical modes.
AbstractList The current study describes a two-fingered soft robotic grasper for handling objects of varying sizes, and materials, including soft and fragile objects. The grasper's design uses compliance and underactuation to efficiently adapt its shape to the object's shape without requiring active position control. This study follows a previously presented work on the Grasper's kinematic feasibility. Further, static structural analysis is performed to analyze the launch loads experienced by the grasper model and validate its structural design. Moreover, the modal analysis has been conducted to determine the frequency of the grasper and study the mode shapes, and examine the critical modes.
Author Gk, Prashant
Sharma, Ankit
Malviya, Saloni
Arora, Hemant
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  givenname: Ankit
  surname: Sharma
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  givenname: Hemant
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  givenname: Prashant
  surname: Gk
  fullname: Gk, Prashant
  email: prashant.gk@vitbhopal.ac.in
  organization: VIT Bhopal,School of Mechanical Engineering,Bhopal,India
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Snippet The current study describes a two-fingered soft robotic grasper for handling objects of varying sizes, and materials, including soft and fragile objects. The...
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StartPage 700
SubjectTerms ADAMS
Analytical models
Ansys
Compliance
CREO
Manipulators
Modal analysis
Motors
Position control
Robotic grasper
Shape
Soft robotics
Underactuation
Title Design and Development of Underactuated Soft Robotic Gripper for Space Applications
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