DGIST Scholar: A Study on Soft Robotic Gripper with Pneumatic Fingers for In-hand Manipulation

Department of Robotics and Mechatronics Engineering Theses Master

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A Study on Soft Robotic Gripper with Pneumatic Fingers for In-hand Manipulation

Title: A Study on Soft Robotic Gripper with Pneumatic Fingers for In-hand Manipulation

Description: Soft robotics gripper, Finite element model, Real-time feedback control

Table Of Contents: Ⅰ. INTRODUCTION
1.1 Background 1
1.2 Literature review on Soft Robotics Gripper 2
1.3 Problem statements and objectives 4
1.3.1 Multiple chambers in pneumatic actuator 5
1.3.2 Sensing and control 6
1.4 Thesis overview 6

ⅠI. METHODOLOGY
2.1 Analysis of the actuator 8
2.2 Design of pneumatic actuated gripper and finger 13
2.2.1 Finger design 13
2.2.2 Fabrication 14
2.2.3 Gripper design 16
2.3 Control methodology 16
2.3.1 Control board 17
2.3.2 Data driven bending/azimuth angle control 19

ⅠII. EXPERIMENT & RESULT
3.1 Experiment on a single actuator 21
3.2 Curve fitting 25
3.2.1 Curve fitting of bending angle 25
3.2.2 Curve fitting of azimuth angle 27
3.3 PID controller tuning 29
3.3.1 PID controller tuning for bending angle control 29
3.3.2 PID controller tuning for azimuth angle control 30
3.4 Angle control 32
3.4.1 Bending angle control 32
3.4.2 Azimuth angle control 33
3.5 Experiment on gripper 34
3.5.1 Grasping force measurement 35
3.5.2 Experimental setup for grasping and twisting 36
3.5.3 Experiment on grasping 37
3.5.4 Experiment on twisting 39

Discussion 42
Conclusion 44
References 45
Korean Summary 47