Biologically Inspired Gripper Based on the Fin Ray Effect

Md Hazrat Ali, Asset Zhanabayev, Samat Khamzhin, Kainar Mussin

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

1 Citation (Scopus)

Abstract

This research focuses on the 3D design and development of a robotic arm along with a flexible gripper based on the Fin Ray effect. To facilitate the overall construction, the design of a three finger-based gripper is selected, and a single actuator controls all the three fingers. Moreover, the main focus of the research is to determine the ability of the gripper to grip and carry the object of different shapes having a weight up to three kilograms. Thus, the analysis of various 3D printing materials is performed. The primary goal of the material analysis is to find a material with the highest bending and strength properties. The analysis was done on the Static Structural simulation software. Based on the obtained results, NinjaFlex filament showed the highest total deformation and equivalent elastic strain resulting in the highest ability to bend beside two other materials. Therefore, it can be observed that the NinjaFlex is more suitable to achieve the objective of this research.

Original languageEnglish
Title of host publication2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages865-869
Number of pages5
ISBN (Electronic)9781728133263
DOIs
Publication statusPublished - Apr 2019
Event5th International Conference on Control, Automation and Robotics, ICCAR 2019 - Beijing, China
Duration: Apr 19 2019Apr 22 2019

Publication series

Name2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019

Conference

Conference5th International Conference on Control, Automation and Robotics, ICCAR 2019
CountryChina
CityBeijing
Period4/19/194/22/19

Keywords

  • Fin Ray Effect
  • Gripper
  • Materials
  • NinjaFlex

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence
  • Control and Systems Engineering

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