Soft Robotic Gripper for Safe Manipulation
Mentors
Project Description
Our lab is developing large soft robotic arms for everyday manipulation tasks, incorporating safety-verified automation into their motions. We have prototypes of a large arm, but there is no gripper (robotic hand) at the end. This project will develop a three-fingered pneumatic soft gripper, made from the same manufacturing style as the robot arm, and create a full prototype with the gripper at the end. The student will work with others in lab to fabricate and test this prototype, and if time allows, incorporate grasping of small objects (such as pieces of fruit, etc.) using our existing algorithms.
Research Goals
The research goal for this project is determining if our models and autonomy algorithms (feedback controllers) apply to the soft robot arm now with the extra appendage at the end. The graduate student mentor will work on this component of the project, leading the REU student in aligning mechanical design constraints with the modeling and algorithmic needs. Ultimately, we will ask questions such as: given the manufacturing variability of this robot, does our model predict the motions of the soft gripper? Can a feedback control system ensure that a maximum grasping force is not exceeded? And for the REU project itself (the mechanical design and prototyping), the primary research question is feasibility and viability. Can we incorporate our envisioned design onto this robot robustly and without mechanical failure?
Learning Goals
A student working on this project will learn manufacturing skills related to soft materials, including casting of silicone polymers, and the molding techniques needed (including CAD and 3D printing of molds). Students will also gain skills in electronics, software, and test setup design, including the use of a vision-based motion capture system that measures locations on the robot’s body as it moves.
Timeline
Weeks 1-2: Project startup, literature review, lab training.
Weeks 3-6: Initial prototypes, fabrication, engineering analysis.
Week 7-8: Integration and testing.
Week 4: Training on all necessary equipment for specific project.
Weeks 5-8: Work on primary objectives of project.
Weeks 9-10: Experiments, evaluation, and writing of report.
