Design Approach for Heavy-Duty Soft-Robotic-Gripper

Abstract Increased product customization based on customer requirements results in a large number of variants and thus smaller batch sizes in production. In order to maintain a flexible and dynamic interlinkage within a production system in terms of industry 4.0, it is necessary to implement flexible and adaptive handling and gripping solutions into the production process. A suitable way of integrating more flexibility into production is the use of compliant soft-robotic gripping systems, which are characterized by a high adaptability in terms of workpieces’ shape, size and structure compared to state-of-the-art grippers. Current focus in research refers on design and simulation of the repeatability of soft-robotic grippers with low payload capability, such as silicone-based Soft-Pneumatic-Actuators (SPA). Design and process parameters of soft-robotic grippers with higher payload capability, such as Fin Ray®, are usually revealed through time-consuming empirical test series. This paper demonstrates the potential of a new simulation-based approach in designing soft-robotic grippers for heavy-duty applications to reveal crucial design and process parameters with low effort and without empirical test series.