Advanced Geometric Optimization and Simulation of 2-DOF Soft Pneumatic Grippers | ||||
| Engineering Research Journal | ||||
| Article 2, Volume 183, Issue 4, December 2024, Page 24-40 PDF (740.54 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/erj.2024.319496.1096 | ||||
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| Authors | ||||
Mahmoud Elsamanty 1; Shereen Khamis Korany  2; Mohamed Sokar1
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| 1Mechanical Engineering Department, Shoubra Faculty of Engineering, Benha University. | ||||
| 2Mechanical Engineering Department, Faculty of Engineering at Shubra, Benha University, Egypt. | ||||
| Abstract | ||||
| Pneumatic grippers, integral components in the field of robotics, are known for their adaptability and safety in handling delicate and varied objects, particularly in unstructured environments. Such devices employ compressed air to actuate, offering a compliant yet effective gripping mechanism that contrasts sharply with the rigidity of traditional robotic grippers. This study introduces an innovative design and optimization of two-degrees-of-freedom (2-DOF) soft pneumatic grippers, focusing on the manipulation of geometrical parameters to enhance deflection capabilities. Employing advanced simulation techniques, including finite element analysis (FEA) and artificial neural networks, this research investigates the impact of varying the angle of teeth (β), among other parameters, on the performance of soft pneumatic actuators. The angle of teeth is systematically varied from 0˚ to 15˚ in increments of 5˚, providing insights into the actuator's flexibility and response to applied pressures ranging from 110 kPa to 190 kPa. The manuscript details the utilization of the ANSYS software package to model and analyze the deflections along the X and Y axes, stress levels, and elastic strain under varying operational conditions. | ||||
| Keywords | ||||
| Soft Pneumatic Grippers; Finite Element Analysis (FEA); Geometrical Parameter Optimization; Robotic Manipulation; Elastic Deformation | ||||
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