The biomechanical design and control of the three-fingered semi-flexible robotic gripper

This thesis investigates the importance and applications of advanced soft robotic grippers with enhanced object adaptability and grasp reliability. The advantages and disadvantages of these grippers are examined, and hypotheses are proposed for the design of more advanced grippers. The study uses objects of different sizes and shapes as a sample. The sample size is determined by considering the diversity of the objects' shapes and sizes. In line with the stated objectives, the robotic gripper tip was designed to have three fingers. Firstly, each finger was designed to contain a single element and then the design was updated by increasing the number of elements in each finger. In the theoretical studies, optimization procedures for different objective functions for PID control of the gripper were performed. In the next process, the gripper was assembled using DC motor and servo motor. The movement of the fingers is provided by the wire passed through them. The oscillation of the wire is revealed by motor control. The parts of the robot gripper were produced using three-dimensional printer technology. Methodology A theoretical and experimental study was conducted for the design of advanced soft robotic grippers. The grippers' performance in grasping objects and the diversity of object shapes and sizes were evaluated.