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Design, control, and testing of a multifunctional soft robotic Gripper

2024-11-25Journal article Open access
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dc.contributor.authorCorreia, A.
dc.contributor.authorCharters De Azevedo, Tiago
dc.contributor.authorLeite, Afonso
dc.contributor.authorCampos, Francisco M.
dc.contributor.authorMonge, Nuno
dc.contributor.authorRocha, André
dc.contributor.authorMendes, Mário J. G. C.
dc.date.accessioned2024-11-26T10:17:00Z
dc.date.available2024-11-26T10:17:00Z
dc.date.issued2024-11-25
dc.description.abstractThis paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this study, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, and validated using two different techniques (3D printing and molding) and three different materials: FilaFlex 60A (3D-printed), Elastosil M4601, and Dragonskin Fast 10 silicones (with molds). A new soft gripper design for the Dobot robot is presented, and a new design/production approach with molds is proposed to obtain the gripper’s PneuNet multifunctional actuators. It also describes a new control approach that is used to control the PneuNet actuators and gripper function, using compressed air generated by a small compressor/air pump, a pressure sensor, a mini valve, etc., and executing on a low-cost controller board—Arduino UNO. This paper presents the main simulation and experimental results of this research study.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationCorreia A, Charters T, Leite A, Campos F, Monge N, Rocha A, Mendes MJGC. Design, Control, and Testing of a Multifunctional Soft Robotic Gripper. Actuators. 2024; 13(12):476. https://doi.org/10.3390/act13120476pt_PT
dc.identifier.doi10.3390/act13120476pt_PT
dc.identifier.eissn2076-0825
dc.identifier.urihttp://hdl.handle.net/10400.21/17977
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherMDPIpt_PT
dc.relationIPL/IDI&CA2023/ACTSOFTLY_ISEL - Instituto Politécnico de Lisboapt_PT
dc.relation.publisherversionhttps://www.mdpi.com/2076-0825/13/12/476pt_PT
dc.subjectsoft roboticspt_PT
dc.subjectmultifunctional soft PneuNet actuatorspt_PT
dc.subjectsoft robotic gripper;pt_PT
dc.subjecthyperelastic modelspt_PT
dc.subjectDobot robotpt_PT
dc.titleDesign, control, and testing of a multifunctional soft robotic Gripperpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage22pt_PT
oaire.citation.issue12pt_PT
oaire.citation.startPage1pt_PT
oaire.citation.titleActuatorspt_PT
oaire.citation.volume13pt_PT
person.familyNameCharters de Azevedo
person.familyNameLeite
person.familyNameMarnoto de Oliveira Campos
person.familyNameMonge
person.familyNameRocha
person.familyNameGonçalves Cavaco Mendes
person.givenNameTiago
person.givenNameAfonso
person.givenNameFrancisco Mateus
person.givenNameNuno
person.givenNameAndré
person.givenNameMário José
person.identifier.ciencia-idCD12-E777-0C7F
person.identifier.ciencia-id201F-6666-FB5F
person.identifier.ciencia-id1E1D-C935-B65A
person.identifier.ciencia-idBD18-DE28-4610
person.identifier.orcid0000-0002-9246-6777
person.identifier.orcid0000-0002-1235-9753
person.identifier.orcid0000-0002-1481-0042
person.identifier.orcid0000-0002-7306-5804
person.identifier.orcid0000-0001-6462-4654
person.identifier.orcid0000-0002-2448-8667
person.identifier.ridC-7789-2016
person.identifier.ridB-5405-2008
person.identifier.scopus-author-id6507581884
person.identifier.scopus-author-id56438997200
person.identifier.scopus-author-id24340460600
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
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