![]() ![]() Also, FEM was used to predict the contact behavior of the mechanical metamaterial to prove that it highly decreases the contact pressure by increasing the contact area between the soft fingers and the grasped objects and thus proving its effectiveness in enhancing the grasping performance of the gripper. The FE simulations accurately predicted the behavior and performance of the fingers in terms of deformation and tip force. The soft fingers of the gripper were optimized using finite element modeling (FEM). ![]() The fingers of the soft gripper along with the mechanical metamaterial, which integrates a soft auxetic structure and compliant ribs, was 3D printed in a single step, without requiring support material and postprocessing, using a low-cost and open-source fused deposition modeling (FDM) 3D printer that employs a commercially available thermoplastic poly (urethane) (TPU). A three-dimensional (3D) printed modular soft gripper with highly conformal soft fingers that are composed of positive pressure soft pneumatic actuators along with a mechanical metamaterial was developed. 3Faculty of Engineering and Information Sciences, Dubai Knowledge Park, University of Wollongong in Dubai, Dubai Knowledge Park, Dubai, United Arab EmiratesĪ single universal robotic gripper with the capacity to fulfill a wide variety of gripping and grasping tasks has always been desirable. ![]() 2ARC Centre of Excellence for Electromaterials Science, University of Wollongong Innovation Campus, North Wollongong, NSW, Australia.1School of Mechanical, Materials, Mechatronic and Biomedical Engineering and Applied Mechatronics and Biomedical Engineering Research (AMBER) Group, University of Wollongong, Wollongong, NSW, Australia.Charbel Tawk 1,2,3 Rahim Mutlu † Gursel Alici 1,2* ![]()
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