Modern robotics increasingly operates in modes of safe interaction with humans and fragile objects, where traditional rigid grippers no longer ensure the required shape conformity, uniform force distribution and sufficient safety. Biomimetic flexible Fin-Ray grippers based on silicone materials make it possible to adaptively envelop an object without damaging it, but their practical implementation still lacks well-established solutions regarding the choice of materials, reinforcement schemes, integration of force sensors and matching with the parameters of industrial manipulators. A comprehensive study is therefore relevant, one that combines a structural and materials-science based approach to the design of a soft gripper with an analysis of its potential application both as an independent modular product and in combination with existing robotic solutions.
Aim and objectives of the research
The aim of the research is to develop and substantiate a robotic manipulator with a flexible gripper based on a silicone composite material that is capable of adaptive interaction with handled objects and provides control of gripping force.
To achieve this aim, the following main tasks are addressed:
1. to review current solutions in the field of soft robotics and flexible grippers and to formulate requirements for the manipulator and the silicone module;
2. to develop a geometric model of a flexible Fin-Ray gripper and its variants with different composite reinforcement schemes;
3. to justify the choice of silicone composite and reinforcement materials and to investigate the influence of their arrangement on the deformation characteristics of the gripper;
4. to select and describe the kinematic structure of the robotic manipulator that provides the required workspace and operating conditions for the flexible gripper;
5. to design the gripper drive and select a servomotor and microcontroller taking into account the requirements for overall dimensions, torque and power consumption;
6. to develop the circuit diagram and printed circuit board for a test prototype of the control system for the flexible gripper in Altium Designer, to define the connection scheme for the force sensor and the servomotor and to write the code for verifying system operability;
7. to substantiate the choice of the force sensor, to determine its placement in the finger structure and the algorithm for limiting critical gripping force;
8. to manufacture experimental specimens of the silicone gripper by casting into 3D printed molds, to conduct experimental tests and to compare the results with simulation data.
Object of the research
The object of the research is the process of robotic manipulation of objects using a manipulator with a flexible silicone gripper.
Subject of the research
The subject of the research is the design and operating parameters of a robotic manipulator with a flexible gripper based on a silicone composite material, including gripper geometry, reinforcement scheme, drive system and force measurement system.
Research methods
The study uses methods of analysis and synthesis of literature sources on soft robotics, methods of three dimensional computer modeling and engineering design, finite element analysis of the stress and strain state of silicone structures, experimental testing of gripper specimens, as well as methods of processing and interpretation of experimental data.
Research advisor: H.Bohdan
