Robotic GrasperMembers

Michelle Acosta

Hiram Do

Brendon Jacinto

Leo Li

Romyl Lopez

Christopher Nguyen

Ka Ho So

Faculty Advisor: Aaron Ohta

IntroductionWhat is the Robotic Grasper?

Hybrid between robotics and soft robotics

Improvement for handling materials

Mechanical analog of the human hand

Main Goals

Make Robotic Grasper fully autonomous

Attach the PDMS Grippers onto arm

Programming linear actuator

Ethical IssuesMedical

Robotic surgeries

Ethical issues arise when problems occur

Balance autonomy and human control

Labor

Human workers vs Robot workers

Robots could be cheaper in the long run

Human workers lose out

Environmental ImpactsPolydimethylsiloxane (PDMS) is a type of silicone

Used in our air chambers

No harmful effects on organisms in the environment

According to Ullmann’s Encyclopedia of Industrial Chemistry

Bisphenol A is a synthetic compound

Used in Lexan components of Robotic Grasper

National Institutes of Health and Food and Drug Administration concerns

Potential effects on young children

Disposal of grasper and keep away from children as a precaution

Objectives

Automatizing the GrasperProgramming grasper to move and pick up objects

How? FlowBotics Studio

What is FlowBotics? Gives visual representation of module

A program that can use images as “code”

Actions based on graphical images

Graphical images are recorded and performed

Controllable Airflow

Using Linear Actuators

What are Linear Actuators? Creates motion in a straight line

Purpose Applies force onto syringe

Syringe pumps air into gripper

Gripper inflates/deflates

Designing a suitable GripperDesigning a mold Creates mold for the Gripper

Using PDMS to fill mold What is PDMS?

PDMS (a.k.a Polydimethylsiloxane) Silicone based organic polymer

Characteristics of PDMS Clear, inert, non-toxic, and non-flammable Soft, rubbery, and elastic

Design and Fabrication

Dimensions of GripperDimensions of Gripper Pad Height: 4.0 mm

Length: 27.0 mm

Width: 19.0 mm

Basic Idea Dimensions used for design

Original gripper on grasper

Gripper ComponentsBase Ceiling

Base Mold Design #1

Outer DimensionsTop View

Dimensions Outer Length: 31.0 mm

Outer Width: 27.0 mm

Inner Length: 23.0 mm

Inner Width: 19.0 mm

Design Concept Even distribution of air

Simple design

Chamber Mold Dimensions

Inner View (Pillars)

Dimensions Length: 2.5 mm

Width: 2.5 mm

Distance between Pillars: 2.5 mm

Inner Height: 3.0 mm

Pillar Height: 2.0 mm

Ceiling Design #1

Ceiling DimensionsOuter Dimensions Length: 31.0 mm

Width: 23.0 mm

Height: 2.0 mm

Inner Dimensions Length: 27.0 mm

Width: 19.0 mm

Height: 1.0 mm

Base Mold Design #2

Outer DimensionsTop View

Dimensions Outer Length: 31.0 mm

Outer Width: 27.0 mm

Inner Length: 23.0 mm

Inner Width: 19.0 mm

Design Concept Utilizing larger surface area

Larger chambers

Ceiling Design #2

Ceiling DimensionsOuter Dimensions Length: 31.0 mm

Width: 23.0 mm

Height: 3.0 mm

Inner Dimensions Length: 27.0 mm

Width: 19.0 mm

Height: 1.0 mm

Center Slot Dimensions

Outer Dimensions Length: ~5.0 mm

Width: ~3.4 mm

Height: 1.0 mm

Purpose Allows air flow into chambers

Prevents center from inflating

Base and Ceiling Result #1

Base and Ceiling Result #2

Base and Ceiling Combined

Experimental Results

Expansion Results

Advantages and Disadvantages Advantages

Hard and soft robotics

Firm and cushioned grip

Polydimethylsiloxane (PDMS) Pads

Thickness creates soft area

Equal distribution of air

Robotic Arm

Easy to assemble

Software available for use

Disadvantages

Limited to small objects

Gripper size and capability

Weight constraints

Servo limitations

Manual Control

Follows preset patterns, manual inflating

Polydimethylsiloxane (PDMS) pads

Non-recyclable, susceptible to cuts

Conclusion

Goals and ObjectivesDid we reach our main goals?

Not quite, but almost there

Did we reach our objectives?

Still needs to be automatized

Able to design suitable grippers

Found a way to control air flow

Future Goals

Fully autonomous

Program linear actuator

Attach grippers onto grasper