Parametric Design of a Soft Gripper Actuated Using the Electrostrictive PVDF-based Terpolymer

Wei Zhang, Jonathan Hong, Saad Ahmed, Zoubeida Ounaies, Mary Frecker

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Nowadays, soft grippers, which use compliant mechanisms instead of stiff components to achieve grasping action, are being utilized in an increasing range of engineering fields, such as food industry, medical care and biological sample collection, for their material selection, high conformability and gentle contact with target objects compared to traditional stiff grippers. In this study, a three-fingered gripper is designed based on a simple actuation mechanism but with high conformability to the object and produces relatively high actuation force per unit mass. The electrostrictive PVDF-based terpolymer is applied as the self-folding actuation mechanism. Finite element analysis (FEA) models are developed to predict the deformation of the folded shape and grasping force of the gripper with two grasp modes, i.e. enveloping grasp and parallel grasp. The FEA models achieved good agreement with experiments. Design optimization is then formulated and a parametric design is conducted with objectives to maximize free deflection and blocked force of the gripper. The design variables are the thicknesses of the active and passive materials, and the nature of the passive layer. It is found that there exists an optimal terpolymer thickness for a given scotch tape substrate thickness to achieve maximum free deflection, and the blocked force always increases as either thickness of terpolymer or scotch tape increases. As the length of the notch increases, free deflection also increases due to more pronounced folding behavior of the actuator, but the blocked force decreases since the actuator is less stiff. The tradeoff between free deflection and blocked force is critical for the final decision on the optimal design for a particular application.

Original languageEnglish (US)
Title of host publicationDevelopment and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791851944
DOIs
StatePublished - Jan 1 2018
EventASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018 - San Antonio, United States
Duration: Sep 10 2018Sep 12 2018

Publication series

NameASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018
Volume1

Other

OtherASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018
CountryUnited States
CitySan Antonio
Period9/10/189/12/18

All Science Journal Classification (ASJC) codes

  • Biomaterials
  • Civil and Structural Engineering

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  • Cite this

    Zhang, W., Hong, J., Ahmed, S., Ounaies, Z., & Frecker, M. (2018). Parametric Design of a Soft Gripper Actuated Using the Electrostrictive PVDF-based Terpolymer. In Development and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation (ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2018; Vol. 1). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/SMASIS2018-7966