Optimal Design of a Soft Robotic Gripper for Efficient Object Grasping in Agricultural Applications

Abstract

Designed and developed, this research offers a description of a bio-inspired soft robotic gripper based on rose petals’ blooming motion named ROSE (Rotation-based Squeezing Gripper). Tackling the increasing need for adaptive and fragile manipulation in agriculture and soft object manipulation, the ROSE gripper leverages a rotational actuation mechanism to impart controlled membrane buckling in executing secure and gentle manipulation of objects across a variety of shapes, sizes, and materials. The gripper is produced from elastomeric materials through the 3D-printed molds and silicone casting process that guarantees cost-effective and customizable production. Unlike the conventional fingered soft grippers, ROSE has a symmetrically driven, funnel-shaped membrane, and its normal pressure could be strictly controlled while generating a great area of contact. Experiments show a high payload-to-weight ratio as well as successful complex object grasping (such as slippery and submerged objects) confirming its applicability in non-destructive harvesting and automated tasks. Complementary finite element analysis confirms the effect of morphological parameters upon wrinkling behavior and grasping performance. The incorporation of a rose-inspired twisting mechanism along with its structural compliance provides a new ushering in the world of scalable, low-complexity, and robust soft robotics grippers