Abstract
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic manufacture of devices containing rigid and elastic sections. We propose a novel design technique that leverages both technologies and can automatically design bespoke soft robotic grippers for fruit-picking and similar applications. We demonstrate the novel topology optimisation formulation that generates multi-material soft grippers, can solve internal and external pressure boundaries, and investigate methods to produce air-tight designs. Compared to existing methods, it vastly expands the searchable design space while increasing simulation accuracy.
Original language | English |
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Title of host publication | Proceedings of the IEEE International Conference on Soft Robotics, RoboSoft 2023 |
Publisher | IEEE |
Number of pages | 7 |
ISBN (Electronic) | 979-8-3503-3222-3 |
DOIs | |
Publication status | Published - 2023 |
Event | 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023 - Singapore, Singapore Duration: 3 Apr 2023 → 7 Apr 2023 |
Conference
Conference | 2023 IEEE International Conference on Soft Robotics, RoboSoft 2023 |
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Country/Territory | Singapore |
City | Singapore |
Period | 3/04/23 → 7/04/23 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.