Development of 3D printed gripper using compliant mechanism
A soft gripper is a type of robotic designed to mimic the characteristic of human hand. It is different from conventional hard gripper; soft gripper consists of flexible structure that enabled to grasp the object gently and conform to the shape of target project. In order to operate a soft gri...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/168882 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | A soft gripper is a type of robotic designed to mimic the characteristic of human hand. It is
different from conventional hard gripper; soft gripper consists of flexible structure that enabled
to grasp the object gently and conform to the shape of target project. In order to operate a soft
gripper, it consists of 2 parts: gripper’s finger and actuator. A soft gripper is made up of soft
material such as elastomer, while actuator normally is combined of mechanical design and hard
material. In this project, a compliant mechanism is used to actuate gripper as it offers flexibility
and adaptability which allowing gripper to handle objects of varying shapes and sizes more
effectively. Their compliant nature also helps to prevent damage to delicate objects and
improves overall grasping success rates. Compared to other actuation such as pneumatic
actuation, the process and design consideration required to involve different areas of engineer,
it takes a lot of time and cost to manufacture one soft gripper. The objective of the final year
report is to develop the compliant mechanism to soft gripper in 3D printing. The application of
this gripper project is used into robotic arm to grasp the electronic waste (E-waste) such as
battery and light bulb with varying size and shape for safety of waste segregation process. To
carry out the project, CAD software is used to model the compliance mechanism design and
simulation for stress analysis. A various type of compliant mechanism, gripper design and
material selection related to 3D printing will be studied. This report will review the introduction
of the topic, literature review of compliance gripper & 3D printing method, research
methodology of the compliant gripper design & material selection. The details and requirement
of the application will be discussed in research methodology. Lastly is result & discussion for
the finalised design and prototype. |
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