Abstract
The goal of this paper is to develop biologically inspired soft robotic hands by using cheap commercial materials. Through finite elemental analysis and material testing, this paper shows effectiveness of a soft pneumatic finger for gripping and lifting. Using ANSYS simulations, the designs were analyzed in pressures, 0.0035 MPa and 0.007 MPa. This low pressure could output high deformations of the actuators. A single finger was able to withstand 25.3 N before failure, while being able to lift 15.3 g by itself under a low voltage air pump. When combing into a claw like gripper of four fingers it was able to lift roughly 8 times that of a single finger, around 130 g. This demonstration of a functional low-cost bio-inspired pneumatic finger showcases the potential for everyday use where a delicate touch is needed. Also, the high dexterity makes it a good design for use in manufacturing or medical areas.
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