Luận văn thạc sĩ Kỹ thuật cơ khí: Nghiên cứu động lực học và phát triển cơ cấu kẹp mềm

Therefore, I designed a set of soft grippers consisting of four soft fingers.. The soft gripper integrates two types of structure, which are perpendicular to pick up round-shaped foods a

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ABSTRACT

In the food industry, particularly small and medium-sized enterprises, high-cost automation lines and complex robotic systems are difficult to apply as simple and low-cost systems In addition, for food safety reasons, pneumatic drive systems are more suitable Therefore, I designed a set of soft grippers consisting of four soft fingers The soft gripper integrates two types of structure, which are perpendicular to pick up round-shaped foods and parallel shapes to pick up rectangular-shaped foods At the same time,

it is possible to change two levels of the soft mechanism which are 60 mm; 80 mm perpendicular, and 34 mm, 69 mm parallel Soft fingers made by die casting method with the material is Platinum Silicone being commercialized in Vietnam The mold is made using 3D Printing technology Each soft finger is designed in the form of PneuNet (Pneumatic Network) which is a network of 12 chambers in series with an overall soft finger size of 85 × 20 × 18 mm (L × W × H) Finite element simulation to check the design response of soft structures Building a dynamic mathematical model of the soft finger Experimental tests assess the bending motion, the force of each soft finger, and the ability to grasp different foods

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