Design and Development of Flexible Soft Robotic Grippers for Safe and Adaptive Human-Robot Interaction

Divyansh Thakur; Kairav Parmar; Chiranjeev Rana; Apexa Purohit; Mayur Chavda; Mayank Dev Singh; Jai Bahadur Balwanshi

doi:10.69968/4nqwmc23

Authors

Divyansh Thakur UG Student, Department of Mechatronics Engineering, ITM Vocational University, Vadodara, Gujarat, India
Kairav Parmar UG Student, Department of Mechatronics Engineering, ITM Vocational University, Vadodara, Gujarat, India
Chiranjeev Rana UG Student, Department of Mechatronics Engineering, ITM Vocational University, Vadodara, Gujarat, India
Apexa Purohit Assistant Professor, Department of Mechatronics Engineering, ITM Vocational University, Vadodara, Gujarat, India
Mayur Chavda Assistant Professor, Department of Mechatronics Engineering, ITM Vocational University, Vadodara, Gujarat, India
Mayank Dev Singh Associate Professor, Department of Mechatronics Engineering, ITM Vocational University, Vadodara, Gujarat, India
Jai Bahadur Balwanshi Dean, Faculty of Engineering & Technology, ITM Vocational University, Vadodara, Gujarat, India

DOI:

https://doi.org/10.69968/4nqwmc23

Keywords:

Soft Robotics, Pneumatic Actuation, Eco-Flex 00-30, Human-Robot Interaction, Adaptive Gripper, Elastomeric Actuators

Abstract

The rapid paradigm shift from rigid industrial automation to human-centered collaborative robotics necessitates the development of intrinsically safe end-effectors. Conventional rigid robotic grippers, while highly accurate and capable of exerting immense forces, inherently lack the compliance required for the safe manipulation of delicate, unstructured, or topologically complex objects. This inflexibility poses significant risks in sensitive operational environments such as agricultural harvesting, advanced healthcare, and direct human-robot collaboration scenarios. This research presents the comprehensive design, material formulation, fabrication, and empirical validation of a highly adaptive, multi-appendage soft robotic gripper engineered from hyperelastic silicone elastomers. The primary objective is to engineer a compliant grasping mechanism capable of conforming to irregular geometries through regulated pneumatic actuation. The methodology leverages high-fidelity 3D-printed negative molds manufactured via Fused Deposition Modeling (FDM), into which Eco-Flex 00-30 a platinum-catalyzed silicone elastomer is cast. By embedding a strain-limiting cloth layer at the base of the fluidic network, isotropic volumetric expansion is constrained, translating pneumatic internal pressure into controlled, directional bending trajectories. Extensive testing utilizing a customized pneumatic control interface, adapted from a sphygmomanometer system, demonstrates the gripper's capacity to safely encapsulate and lift fragile objects without inflicting localized stress fractures or surface abrasions. The proposed prototype, developed at an exceptionally low material cost of ₹10,100, offers a highly scalable and economically viable alternative to traditional rigid kinematics. The successful execution of this soft pneumatic network (Pneu-Net) architecture underlines a critical advancement in scalable automation for Small and Medium Enterprises (SMEs) and sets a foundational framework for future iterations incorporating closed-loop tactile feedback.

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