DESIGN AND ANALYSIS OF A SOFT FINGER END EFFECTOR FOR INDUSTRIAL PURPOSE

In this paper, there is a detailed explanation of our design, the soft finger end effector for the industrial purposes. As the designing of the end effectors plays a crucial role in the performance of a robotic arm. For the Soft fingers in the robotic arm the most important and crucial in this research was their properties such as (body shapes, softness, density).The detailed research regarding the soft finger will also include the approach for prediction of the force required and the weight that a finger can sustain are included in this research process. Apart from the firm wireless soft finger which process its movement through the sensors and actuators, instead of this wireless technology we made our design using wires in and around the soft finger. As the material used for the soft finger is silicon rubber / synthetic rubber when we apply force to pull the fingers close to a grasp an object as we don't need any mechanism to pull back the soft finger to its original position as it by nature rubber material as soon as the tension on it removed it will go back to its original position without any external forces acting on it. This paper introduces a new design and the recent technology development in the soft robotics field. The soft robotic finger must be a light weight and must possess the ability to grab and hold the objects irrespective of their shape and size.